JP2014043140A - Parking assistance device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking assistance device that when assisting a driver moves back one's car to parallely park the car in a parking space adjacent to obstacles, allows the driver to park more easily in a direction along the obstacles placed at a side desired by the driver.SOLUTION: In a parking assistance device, when there are obstacles (B1 and B2) adjacent to both sides of a parking space C detected by a parking space detection process (S2), a selection accepting process (S5) accepts an operation input by a user for selecting either one of the obstacles, and a target parking location calculation process (S7) determines a target parking location so that a parking angle is along the opposite face of the parking space of the obstacles determinately selected.

Description

  The present invention relates to a parking assistance device.

  2. Description of the Related Art Conventionally, a technique for assisting an operation of reversing a vehicle and parking in parallel in a parking space is known. For example, in Patent Document 1, a vehicle is separated by a predetermined distance along a parked vehicle that is closest to the vehicle at the start of the parking process, out of two parked vehicles adjacent to the parking space. A parking process support device that determines a target parking position so as to be arranged and supports parking at the parking position is disclosed.

  Further, in Patent Document 2, the final parking scheduled area (that is, the center position Xpos between two parked vehicles sandwiching the parking space, which is detected by an ultrasonic sensor at the time of advancement before the host vehicle starts to reverse) A parking assist device for setting a target parking position is disclosed.

  Specifically, in the parking assistance device disclosed in Patent Document 2, the center positions Xmin1 and Xmin2 of each parked vehicle in the traveling direction of the host vehicle are determined based on the distance data of the two parked vehicles detected by the ultrasonic sensor. To do. Then, the center position Xpos of the parking space between the two parked vehicles is calculated from the determined center positions Xmin1 and Xmin2 of each parked vehicle, and the target parking position is set so that the center position Xpos is the center.

Special table 2011-524298 gazette Japanese Patent No. 4461920

  However, in the parking process support device of Patent Document 1, when the parking direction of each adjacent parked vehicle is greatly different, such as a corner parking space such as an L-shaped corner portion, the original parking frame orientation and There were cases where assistance was provided to park along parked vehicles with significantly different parking directions. Therefore, the vehicle is parked with a large inclination from the original parking frame, and it is difficult to park in the direction along the parked vehicle on the side desired by the driver.

  Further, even with the driver assistance device of Patent Document 2, it is difficult to park in the direction along the parked vehicle on the side desired by the driver. Specifically, in the driver assistance device of Patent Document 2, the central position of the parking space even when the parking directions of the adjacent parked vehicles are greatly different, such as a parking space at a corner such as an L-shaped corner. Support for parking the vehicle so that Xpos is at the center will be performed. Therefore, when the original parking frame is oriented along one of the parked vehicles, assistance is provided to park in a direction greatly inclined from the original parking frame, and the parked vehicle on the side desired by the driver It was difficult to park in the direction along.

  The present invention has been made in view of the above-described conventional problems, and the purpose of the present invention is to drive more easily when performing parking assistance for reversing the host vehicle and parking in parallel in a parking space adjacent to an obstacle. An object of the present invention is to provide a parking assistance device that enables parking in a direction along an obstacle on a side desired by a person.

  The parking assist device of the present invention is mounted on a vehicle, side obstacle detecting means (1, S1) for detecting the position of an obstacle present on the side of a route through which the vehicle passes, and side obstacle detecting means. The parking space detection means (1, S2) for detecting the parking space on the side of the route adjacent to the obstacle based on the position of the obstacle detected in the step, and the parking space detected by the parking space detection means Target parking position determining means (1, S7) for determining a target parking position when the vehicle is parked, and support means (1, S9, S12, assisting vehicle traveling for reversing the vehicle and parking in parallel at the target parking position, When the obstacle exists adjacent to both sides of the parking space detected by the parking space detection means, the parking support device (1) provided with S13) is selected. Selection acceptor that accepts user input (1, S5) and selection confirmation means (1) for confirming the selection of the obstacle selected by the operation input received by the selection reception means, and the target parking position determination means is selected by the selection confirmation means. The target parking position is determined so as to be a parking angle along a parking space facing surface that is a surface in contact with the parking space of the confirmed obstacle.

  According to this, when there is an obstacle adjacent to both sides of the parking space, the obstacle is parked that is selected by the user's operation input for selecting one of these obstacles and the selection is confirmed. Since the target parking position is determined so as to be the parking angle along the space facing surface, it is possible to park in the direction along the obstacle selected by the user. Therefore, when performing parking support in which the host vehicle is moved backward and parked in parallel in the parking space adjacent to the obstacle, it is possible to more easily park the vehicle along the obstacle on the side desired by the driver. .

1 is a block diagram illustrating a schematic configuration of a parking assistance system 100. FIG. It is a schematic diagram for demonstrating an example of the detection mode of the obstacle and parking space which adjoined parking space using the front part distance measuring sensor 2. FIG. It is a flowchart which shows an example of the flow of the reverse parking assistance relevant process in parking assistance ECU1. It is a schematic diagram for demonstrating an example of the prediction locus line superimposed and displayed on a back image. It is a schematic diagram which shows an example of a simple image. It is a schematic diagram for demonstrating the effect by the structure of this embodiment. 10 is a schematic diagram for explaining an effect of the configuration of Modification 1. FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. A parking assistance system 100 shown in FIG. 1 includes a parking assistance ECU 1, a front distance measuring sensor 2, a rear distance measuring sensor 3, a rear camera 4, a rudder angle sensor 5, a wheel speed sensor 6, a display device 7, and an audio output device 8. Is included.

  For example, the parking assist ECU 1, the front distance measuring sensor 2, the rear distance measuring sensor 3, the rear camera 4, the rudder angle sensor 5, the wheel speed sensor 6, the display device 7, and the audio output device 8 are represented by a CAN (controller area network). What is necessary is just to set it as the structure respectively connected by in-vehicle LAN based on communication protocols, such as. Hereinafter, a vehicle equipped with the parking assist system 100 is referred to as a host vehicle.

  The front distance measuring sensor 2 and the rear distance measuring sensor 3 are sensors used to detect a distance to an obstacle by transmitting an exploration wave and receiving a reflected wave of the exploration wave reflected by the obstacle. It is. The front distance measuring sensor 2 and the rear distance measuring sensor 3 may be any sensors that transmit a search wave and receive a reflected wave of the search wave. Even if a sound wave is used, a light wave is used. Alternatively, radio waves may be used. For example, sensors such as an ultrasonic sensor, a laser radar, and a millimeter wave radar can be used as the front distance measuring sensor 2 and the rear distance measuring sensor 3. In the present embodiment, the case where an ultrasonic sensor is used will be described as an example.

  The front distance measuring sensor 2 is disposed, for example, one on each of the left and right side surfaces of the front bumper of the own vehicle so that the directivity center line is inclined forward from the direction of the own vehicle axle. The directivity center line of the front distance measuring sensor 2 may be disposed so as to be tilted forward of the host vehicle, for example, about 20 ° from the axle direction of the host vehicle. Thereby, the exploration wave is transmitted from the front distance measuring sensor 2 toward the side slightly forward. Hereinafter, the front ranging sensor 2 on the left side of the host vehicle is referred to as a front ranging sensor 2a, and the front ranging sensor 2 on the right side of the host vehicle is referred to as a front ranging sensor 2b.

  In addition, the front distance measuring sensor 2 is not limited to the configuration in which the front distance measuring sensor 2 is disposed one by one on the left and right side surfaces of the front bumper of the own vehicle, for example, two on the surface facing the front of the front bumper of the own vehicle. It is good also as a structure arrange | positioned still more.

  The rear distance measuring sensors 3 are arranged one by one on the left and right side surfaces of the rear bumper of the own vehicle, for example, so that the directivity center line is inclined backward from the own vehicle's axle direction. The directivity center line of the rear distance measuring sensor 3 may be arranged to be inclined rearward of the host vehicle from the axle direction of the host vehicle to about 20 °, for example. As a result, a search wave is transmitted from the rear distance measuring sensor 3 toward the side slightly rearward. Hereinafter, the rear ranging sensor 3 on the left side of the own vehicle is referred to as a rear ranging sensor 3a, and the rear ranging sensor 3 on the right side of the own vehicle is referred to as a rear ranging sensor 3b.

  Note that the rear distance measuring sensor 3 is not limited to the configuration in which the rear distance measuring sensor 3 is arranged one by one on the left and right side surfaces of the rear bumper of the own vehicle, and the directivity center line is also formed on the surface facing the rear bumper of the own vehicle. It is good also as a structure arrange | positioned more, such as arrange | positioning 2 each so that it may face the advancing direction of a vehicle. Further, the rear distance measuring sensor 3 may have a configuration in which the directivity center line is directed to the axle direction of the own vehicle on the left and right side surfaces of the rear bumper of the own vehicle.

  The directivity of the front distance measuring sensor 2 and the rear distance measuring sensor 3 should be narrower as long as it has a width that allows satisfactory transmission and reception in use in the assumed vehicle speed range. preferable.

  Here, an example of a detection mode of a parking vehicle adjacent to the parking space, an obstacle such as a wall or a roadside tree, and the parking space using the front distance measuring sensor 2 will be described. Here, for the sake of convenience, the case where a parking space sandwiched between obstacles exists on the left side of the own vehicle will be described as an example. Hereinafter, the description will be continued based on the example of FIG.

  In FIG. 2, A indicates the own vehicle, black arrows indicate the traveling direction of the own vehicle A, B1 is an obstruction on the back side with respect to the traveling direction of the own vehicle A, B2 Indicates an obstacle on the near side. Moreover, C in FIG. 2 shows a parking space sandwiched between the obstacle B1 and the obstacle B2.

  The own vehicle A transmits obstacle waves B, a parking space C, an obstacle while sequentially transmitting exploration waves from the front distance measuring sensor 2a arranged on the left side of the own vehicle A toward the left side slightly forward of the own vehicle A. When a reflected wave from the obstacle B2 and the obstacle B1 is obtained while passing through the side of the object B1, this is sequentially received.

  When the reflected wave can be sufficiently obtained from both the obstacle B2 and the obstacle B1, and both the obstacle B2 and the obstacle B1 can be detected, the front distance measurement is performed while the vehicle A is traveling. Based on the reflected wave sequentially received by the sensor 2a, the parking assistance ECU 1 detects the obstacle space B2 and the parking space C adjacent to the obstacle B1.

  The rear camera 4 is installed above the rear bumper of the host vehicle A, for example, and captures an area extending in a predetermined angular range behind the host vehicle. The rear camera 4 is installed such that the optical axis faces the road surface at the rear of the vehicle body. For example, the rear camera 4 may be configured to use a CCD camera. An image around the rear of the host vehicle (hereinafter referred to as a rear image) captured by the rear camera 4 is supplied to the parking assist ECU 1. Therefore, parking assistance ECU1 is equivalent to the back image acquisition means of a claim.

  The steering angle sensor 5 is a sensor that detects the steering angle of the steering of the host vehicle A. The steering angle when the host vehicle A travels in a straight traveling state is set to a neutral position (0 degree), and the rotation angle from the neutral position. Is output as the steering angle. The steering angle is output with a positive (+) sign when rotating right from the neutral position, and is output with a negative (-) sign when rotating left from the neutral position. The The wheel speed sensor 6 is a sensor that detects the speed of the host vehicle A from the rotational speed of each rolling wheel.

  The display device 7 displays text and images in accordance with instructions from the parking assist ECU 1. For example, the display device 7 is capable of full-color display and can be configured using a liquid crystal display, an organic EL display, a plasma display, or the like. Further, as the display device 7, for example, a configuration using a display provided in the in-vehicle navigation device may be used, or a configuration using a display provided in an instrument panel or the like separately from the display of the in-vehicle navigation device. Good.

  The audio output device 8 is constituted by a speaker or the like, and outputs audio in accordance with an instruction from the parking assistance ECU 1. In addition, as the audio | voice output apparatus 8, it is good also as a structure using the audio | voice output apparatus provided in the vehicle-mounted navigation apparatus, for example.

  The parking assist ECU 1 is mainly configured as a microcomputer, and each includes a well-known CPU, a memory such as a ROM / RAM / EEPROM, an I / O, and a bus connecting them. The parking assist ECU 1 executes various control programs stored in the ROM based on various information input from the front distance sensor 2, the rear distance sensor 3, the rear camera 4, the rudder angle sensor 5, and the wheel speed sensor 6. Run. For example, the parking assist ECU 1 executes various processes such as a process related to a vehicle travel support for reversing the host vehicle and parking in parallel in the parking space C (hereinafter referred to as a reverse parking assist related process). The parking assistance ECU 1 corresponds to the parking assistance device in the claims.

  Here, with reference to the flowchart of FIG. 3, the backward parking support-related process in the parking support ECU 1 will be described. This flow is started when the parking assist ECU 1 detects a predetermined start trigger. Examples of the start trigger include an operation input for turning on a parking assistance start switch (not shown).

  First, in step S1, an obstacle position detection process is performed, and the process proceeds to step S2. In the obstacle position detection process, the distances to the obstacle B1 and the obstacle B2 obtained sequentially from the front distance measuring sensor 2a when passing along the obstacle B2, the parking space C, and the obstacle B1 are calculated. Obtained sequentially (for example, every 100 msec).

  And the position of an obstruction is detected by specifying the outline shape of obstruction B1 and obstruction B2 from the distance data series (point sequence) which memorize | stored the distance to the obstruction acquired in time series. Therefore, the processing in step S1 corresponds to the side obstacle detection means in the claims. Here, the contour shapes of the obstacle B1 and the obstacle B2 specified from the distance data series are contour shapes in a plane coordinate system with respect to the ground surface of the surface facing the route side through which the vehicle A has passed. .

  As an example, the contours of the obstacle B1 and the obstacle B2 are obtained by approximating a distance data series (dot sequence) by an ellipse or a parabola by a known method similar to that disclosed in Japanese Patent Application Laid-Open No. 2008-21039. Identify the shape. The position of the obstacle may be the position of the contour shape of the obstacle in the planar coordinate system, or may be the position of a part of the obstacle estimated from the contour shape.

  In step S2, a parking space detection process is performed, and the process proceeds to step S3. In the parking space detection process, the parking space C sandwiched between the obstacle B1 and the obstacle B2 is detected from the contour shapes of the specified obstacle B1 and obstacle B2. Therefore, the process of step S2 corresponds to the parking space detection means in the claims.

  In the parking space detection process, the size of the parking space C is determined by obtaining the distance between the ends of the obstacles B1 and B2 facing each other in the direction of the route through which the vehicle A has passed. Here, the size of the parking space C indicates the length of the parking space C in the direction of the route through which the vehicle A has passed.

  In step S3, it is determined whether or not the own vehicle A is a parking space C in which parking is possible. Whether or not the host vehicle A is a parking space C that can be parked is determined based on the size of the parking space C and the size of the host vehicle A. Here, the size of the parking space C is the length of the parking space C in the direction of the route through which the vehicle A has passed. In addition, the size of the host vehicle A may be stored in advance in a nonvolatile memory such as an EEPROM of the parking assist ECU 1.

  And when it determines with the own vehicle A parking possible (it is YES at step S3), it moves to step S4. If it is determined that the vehicle A cannot be parked (NO in step S3), the process returns to step S1 and the obstacle exists further to the back of the traveling direction of the vehicle A than the obstacles B1 and B2. The object is detected and the flow is repeated.

  In step S4, a selection necessity determination process is performed. In the selection necessity determination process, it is determined whether or not it is necessary to select an obstacle as a reference for parking. As an example, in the selection necessity determination process, of the contour shapes of the obstacles B1 and B2 specified in the obstacle position detection process in step S1, the surface facing the route side (hereinafter referred to as a route facing surface) is described. Determine the slope. Therefore, the process of step S4 corresponds to the inclination determining means in the claims. For example, the inclination may be calculated by linearly approximating the path facing surface, or may be calculated from a line segment connecting two points corresponding to the ends of the path facing surface.

  After the inclination of the path facing surface of each obstacle B1 and B2 is determined, the difference in the inclination of the path facing surface of each obstacle B1 and B2 is obtained, and it is determined whether or not this difference is equal to or greater than a predetermined value. If the difference is greater than or equal to a predetermined value, it may be determined that selection is necessary, and if the difference is less than the predetermined value, it may be determined that selection is not necessary. Here, the predetermined value is a value that can be said to be largely inclined from the parking frame when the vehicle is parked along the direction of one obstacle, and is a value that can be arbitrarily set. Therefore, the process of step S4 corresponds to the inclination difference determining means in the claims.

  According to this, when parking along the direction of one obstacle like the case where the inclination of each obstruction B1 * B2 adjacent to the parking space C is greatly different, there exists a possibility that it may incline largely from a parking frame. Only in certain cases, the user can select which obstacle to park along. In addition, when there is a low possibility that the parking frame will be greatly inclined even if it is parked along the direction of one of the obstacles, as in the case where the difference in inclination between the obstacles B1 and B2 adjacent to the parking space C is small Since it is not necessary for the user to select which obstacle to park along, it is possible to reduce the user's trouble.

  In step S5, a selection acceptance process is performed, and the process proceeds to step S6. In the selection reception process, an operation input of a user who selects one of the obstacles B1 and B2 adjacent to the parking space C is received. Therefore, the process in step S5 corresponds to a selection receiving unit in the claims.

  As an example, in the selection acceptance process, a steering operation for bringing the expected trajectory line of the own vehicle A determined according to the steering angle of the own vehicle A to one of the positions of the respective obstacles B1 and B2, What is necessary is just to set it as the structure (henceforth the structure selected by steering operation) received as an operation input of the user who selects either of B2.

  In this case, it is preferable that the parking assist ECU 1 has a configuration in which the expected trajectory line of the host vehicle A is superimposed on the rear image of the host vehicle A captured by the rear camera 4 and displayed on the display device 7. Therefore, parking assistance ECU1 is equivalent to the display control means of a claim. The predicted trajectory line may be calculated by a known method based on the steering angle obtained from the rudder angle sensor 5 or the vehicle speed obtained from the wheel speed sensor 6.

  In the configuration that is selected by the steering operation, an obstacle having a shorter shortest distance from the predicted trajectory line of the own vehicle A is selected from the obstacles B1 and B2, and one of the obstacles is always selected. The configuration may be as follows. In addition, an obstacle whose shortest distance from the predicted trajectory line of the vehicle A is equal to or less than a predetermined value may be selected, and a neutral position that is not any obstacle may be selected. The predetermined value here is a value that can be arbitrarily set. The distance between the predicted trajectory line of the vehicle A and the obstacle can be calculated by indicating the predicted trajectory line and the position of the obstacle in the above-described plane coordinate system.

  Further, in the configuration selected by the steer operation, the color, thickness, and shape of the predicted trajectory line that is displayed on the display device 7 by being superimposed on the rear image, depending on which of the obstacles B1 and B2 is selected. It is preferable to change (such as solid line or broken line) (see FIG. 4). As an example, the color, thickness, and shape of the expected trajectory line are changed when switching from the neutral position selection to the obstacle B1 selection, while switching from the neutral position selection to the obstacle B2 selection. In such a case, the predicted trajectory line may be changed to a color, thickness, or shape different from that when the obstacle B2 is being selected.

  In the selection reception process, a user operation input to the left and right turn signal switches of the vehicle is received as a user operation input for selecting one of the obstacles B1 and B2 (hereinafter, a configuration selected by a winker operation). Also good. Also in this case, it is preferable that the parking assist ECU 1 is configured to display the rear image captured by the rear camera 4 on the display device 7.

  In the configuration selected by the winker operation, the vehicle is positioned on the right side of the own vehicle A when it is assumed that the own vehicle A has moved backward into the parking space C when a signal indicating that the right winker switch is turned on is detected. What is necessary is just to set it as the structure which is selecting the obstruction B2 which will become. Further, when a signal indicating that the left turn signal switch is turned on is detected, an obstacle B1 that is located on the left side of the own vehicle A when it is assumed that the own vehicle A has moved backward into the parking space C is displayed. What is necessary is just to set it as the structure made into selection.

  In addition, although the structure which receives the user's operation input with respect to the turn signal switch on either side of a vehicle as a user's operation input which selects either obstacle B1 * B2 was shown, it does not necessarily restrict to this. Other than the turn signal switch, the user inputs one of the obstacles B1 and B2 to the operation switch for designating and operating the left and right on-board electrical components provided on the left and right sides of the vehicle. It is good also as a structure received as a user's operation input. The same applies to the configuration selected by the blinker operation described below.

  For example, a power window switch for the left and right windows and a mirror selection switch for the left and right door mirrors may be used. In addition, when a dedicated switch for designating the left and right direction with respect to the host vehicle is provided, the dedicated switch may be used.

  Further, in the selection acceptance process, the user's operation input to the position in the rear image by the operation switch for designating the position in the rear image of the host vehicle A captured by the rear camera 4 is performed for any of the obstacles B1 and B2. What is necessary is just to make it the structure (henceforth the structure selected from a back image) received as an operation input of the user who selects these. The rear image is configured to be displayed on the display device 7.

  In the configuration for selecting from the rear image, for example, when the user's operation input to the display position of the obstacle B1 in the rear image is detected by a touch switch integrated with the display device 7, the obstacle B1 is being selected. What is necessary is just to be the structure to do. Moreover, what is necessary is just to set it as the structure which is selecting the obstruction B2, when the user's operation input with respect to the display position of the obstruction B2 in a back image is detected with the said touch switch.

  In this case, parking assistance ECU1 should just implement | achieve the said structure by matching with the position in the back image, and the position of obstruction B1 * B2 detected by the obstruction position detection process of step S1. The position of the obstacles B1 and B2 detected by the obstacle position detection process and the position in the rear image may be associated with each other by using a known bird's-eye conversion technique.

  In addition, in the configuration selected by the steering operation, the configuration selected by the winker operation, and the configuration selected from the rear image, the parking assist ECU 1 can cause the selected obstacle to be displayed with emphasis or a mark. preferable. Examples of highlighting include an example of surrounding an obstacle with a frame, surrounding it with a colored frame, or inverting it. Examples of the display indicated by the mark include an arrow mark indicating an obstacle.

  In addition, in the selection reception process, the positional relationship between the parking space C and the obstacles B1 and B2, the icon indicating the parking space C (C in FIG. 5) and the icon indicating the obstacles B1 and B2 (in FIG. 5) B1 and B2) may be displayed on the display device 7 (hereinafter referred to as a simplified image). In the example of FIG. 5, it is assumed that the vehicle A before reversing is located on the lower side of the screen with a text display “Please select which should be the reference”.

  Then, an operation input for designating an icon indicating the obstacle B1 or B2 in the simple image by an operation switch for designating an icon indicating the obstacle B1 or B2 in the simple image is selected from any of the obstacles B1 and B2. It is good also as a structure (henceforth the structure selected from an icon) received as an operation input of the user who selects.

  The rear image may be configured not to be displayed on the display device 7, or may be displayed on a display device different from the display device 7, or the screen of the display device 7 may be divided and displayed in a different area from the simplified image. It is good also as composition to do.

  Further, the parking assist ECU 1 determines the obstacle in the above-described plane coordinate system based on the contour shape of the obstacles B1 and B2 specified in the obstacle position detection process and the size of the parking space C detected in the parking space detection process. The positions of the objects B1 and B2 and the parking space C are converted into positions on the pixel coordinates of the simplified image to generate a simplified image.

  Of the contour shapes of the obstacles B1 and B2, a portion that is not specified in the obstacle position detection process may be estimated assuming that the obstacle is substantially rectangular. The inclination amount of the icons indicating the obstacles B1 and B2 reflects the inclination amount of the contour shape of the obstacles B1 and B2 specified in the obstacle position detection process.

  In the configuration of selecting from the icon, for example, when the user's operation input to the display position of the icon indicating the obstacle B1 in the simplified image is detected by a touch switch integrated with the display device 7, the obstacle B1 is selected. A medium configuration may be used. Moreover, what is necessary is just to set it as the structure which is selecting the obstruction B2, when the user's operation input with respect to the display position of the icon which shows the obstruction B2 in a back image is detected with the said touch switch.

  Moreover, in the structure which selects from an icon, it is preferable that parking assistance ECU1 performs the display shown with an emphasis display or a mark with respect to the icon which shows the obstacle in selection. Examples of highlighting include an example of surrounding an icon indicating an obstacle with a frame, changing the color, or highlighting the icon. Further, examples of the display indicated by the mark include an example of displaying an arrow mark indicating an obstacle icon.

  In step S6, when the selection accepted in the selection acceptance process is confirmed (YES in step S6), the process proceeds to step S7. On the other hand, if the selection has not been confirmed (NO in step S6), the flow returns to step S5 to repeat the flow.

  In the configuration where the selection is confirmed by the steer operation, when the change in the steering angle has not been exceeded for a predetermined time or when an operation input of an operation switch (not shown) for confirming the selection (hereinafter referred to as a dedicated switch) is detected. What is necessary is just to set it as the structure which parking assistance ECU1 performs. In addition, in the case of a configuration that is selected by a winker operation, a configuration that is selected from a rear image, and a configuration that is selected from an icon, the parking assist ECU 1 may perform or be selected when an operation input of the confirmation dedicated switch is detected. It is good also as a structure which parking assistance ECU1 confirms selection at the time. Therefore, the parking assist ECU 1 corresponds to the selection confirmation means in the claims.

  In step S7, a target parking position calculation process is performed, and the process proceeds to step S8. In the target parking position calculation process, a target parking position when the subject vehicle A is parked in the parking space C detected by the parking space detection process is set. Therefore, the process of step S7 corresponds to the target parking position determining means in the claims. It is assumed that the target parking position is at least a target angle among a target parking position (hereinafter referred to as a target position) and a target parking angle (hereinafter referred to as a target angle).

  For example, the target position when it is determined that selection is unnecessary in step S4 is set so that the vehicle A is positioned between the obstacle B1 and the obstacle B2, or the traveling direction when the vehicle A is moving forward is set. In other words, the position may be set to a position separated from the edge of the obstacle on the near side by a certain distance (for example, 60 cm) in the traveling direction. In addition, the target angle when it is determined that the selection is unnecessary in step S4 is set to be parallel to the direction orthogonal to the route when passing through the parking space C among the routes passed when the host vehicle A moves forward, for example. Or an angle along a surface (hereinafter referred to as a parking space facing surface) that contacts the parking space C of the obstacle on the near side with respect to the traveling direction when the host vehicle A moves forward. That's fine.

  On the other hand, what is necessary is just to set it as the structure set so that the target position at the time of determining with selection at step S4 may be brought close to the obstruction selected by the user. As an example, among the distances from the own vehicle A to the left and right obstacles B1 and B2 when it is assumed that the vehicle has moved backward into the parking space C, the distance to the selected obstacle is a predetermined distance or more. What is necessary is just to set it as the structure which sets a target position so that it may become short. Alternatively, the target position may be set at a position separated from the selected obstacle by a predetermined distance such as a preset minimum clearance.

  Moreover, what is necessary is just to set it as the structure set so that it may become the direction which followed the obstruction selected by the user about the target angle when it determines with selection required in step S4. As an example, the target angle may be set to be a parking angle along the parking space facing surface of the selected obstacle.

  About the position (including inclination) of the parking space facing surface of the obstacles B1 and B2, the configuration obtained from this contour shape when the obstacle position detection processing also obtains a part of the contour shape of the parking space facing surface. And it is sufficient. Further, even when the contour shape of the parking space facing surface is not obtained in a sufficient length, it may be configured to be estimated from the path facing surface of the obstacles B1 and B2.

  In step S8, a parking route calculation process is performed, and the process proceeds to step S9. In the parking route calculation process, a reverse start position is set based on the current position of the host vehicle A, and a parking route for parking at the target parking position is determined. Since the method for determining the parking route is known as disclosed in Japanese Patent Application Laid-Open No. 2003-34206 and Japanese Patent Application Laid-Open No. 2009-83806, details are omitted.

  In step S9, parking support processing is started, and the process proceeds to step S10. In the parking assistance process, steering assistance and automatic steering are performed so that the host vehicle A travels along the parking route calculated in the parking route calculation process. Therefore, the processing in step S9 corresponds to the support means in the claims. As the steering assist, a configuration may be adopted in which a guidance voice for steering timing and steering amount is output from the voice output device 8.

  If it is detected in step S10 that the own vehicle A has started to reverse (YES in step S10), the process proceeds to step S11. On the other hand, when it is not detected that the own vehicle A has started to reverse (NO in step S10), the flow of step S10 is repeated. The parking assist ECU 1 may detect that the host vehicle A has started to reverse based on a signal indicating that the shift position has become the reverse position from a shift position sensor (not shown).

  In step S11, a rear side obstacle detection process is performed, and the process proceeds to step S12. In the rear side obstacle detection process, when retreating and entering the parking space C, the obstacles B1 and B2 that are located on the left and right of the own vehicle A sequentially obtained from the rear distance measuring sensors 3a and 3b The distance is acquired sequentially (for example, every 100 msec). Then, the acquired distances to the obstacles B1 and B2 are stored in time series. In the rear side obstacle detection processing, a fixed number of distance data series (point sequences) may be stored in the memory, and then the process may proceed to step S12.

  In step S12, a correction process is performed and the process proceeds to step S13. In the correction process, the target parking is performed by the difference between the positions of the obstacles B1 and B2 detected in the obstacle position detection process in step S1 and the positions of the obstacles B1 and B2 detected in the rear side obstacle detection process in step S11. The position (that is, the target position and target angle) is corrected. Also, the parking route is recalculated according to the correction of the target parking position. In addition, when it is necessary to switch back that is a repetitive operation of a plurality of reverse movements and forward movements, a parking route for performing this switching is recalculated.

  In step S13, the post-correction support process is started, and the process proceeds to step S14. In the post-correction support process, steering support and automatic steering are performed so that the vehicle A travels along the recalculated parking route. Therefore, the process of step S12-step S13 is also equivalent to the support means of a claim.

  In step S14, when it is detected that the vehicle A has completed parking (YES in step S14), the flow ends. For example, the parking assistance ECU 1 may detect that the own vehicle A has completed parking based on the fact that a signal indicating that the shift position has become the parking position is obtained from a shift position sensor (not shown). . On the other hand, if it is not detected that the vehicle A has completed parking (NO in step S14), the process returns to step S11 and the flow is repeated.

  According to the above configuration, when there are obstacles B1 and B2 adjacent to both sides of the parking space C, the own vehicle A can be parked in the parking space C following the obstacle selected by the user. .

  Here, the effect in the structure of this embodiment is demonstrated concretely using FIG. In FIG. 6, E1 indicates the contour shape specified for the obstacle B1, and E2 indicates the contour shape specified for the obstacle B2. A solid arrow indicates a traveling direction in which the own vehicle A is parked in the original parking frame, and a broken arrow indicates a traveling direction in which the own vehicle A is parked out of the original parking frame.

  The inclinations of the obstacles B1 and B2 on both sides of the parking space C are greatly different (see E1 and E2 in FIG. 6), and if the vehicle is parked along the direction of one of the obstacles, it is greatly inclined from the original parking frame. In this case (see the broken arrow in FIG. 6), the user can select the obstacle along the original parking frame so that the user can park the original parking frame (see the solid arrow in FIG. 6). ).

  In addition, it is good also as a structure which abbreviate | omits the process of step S11-step S13 and does not correct | amend the target parking position calculated by the target parking position calculation process of step S7.

  Moreover, when the parking space C in which the own vehicle A can be parked is detected without performing the selection necessity determination process of step S4, it is good also as a structure (henceforth modification 1) which requires selection of an obstruction. According to this, even if the difference in inclination between the obstacles B1 and B2 adjacent to the parking space C is small, the contour shape of the vehicle facing surface of one obstacle (see E1 in FIG. 7) is inclined. When it is easy to identify, it becomes possible for the user to select an obstacle so as not to be parked following the obstacle.

  As the case where the contour shape of the vehicle facing surface of one of the obstacles is inclined and easily specified, one of the obstacles has a large unevenness such as a roadside tree (see B1 and B3 in FIG. 7), or an accessory is There are cases where it exists.

  Furthermore, the parking assist ECU 1 selects the target parking position in the middle of the parking space C when the neutral position is selected without selecting any of the obstacles B1 and B2 adjacent to both sides of the parking space C. It is good also as a structure set to. As an example, the target position may be set so that the own vehicle A is positioned between the obstacle B1 and the obstacle B2. The target angle is set so as to be parallel to the direction perpendicular to the route when passing through the parking space C among the routes passed when the host vehicle A travels forward, or the obstacles B1 and B2 are opposed to the vehicle. What is necessary is just to set it as the average value of the inclination of a surface.

  The state in which the neutral position is selected is as described above in the configuration selected by the steering operation. In the configuration selected from the rear image and the configuration selected from the icon, the obstacles B1 and B2 This corresponds to a state in which the area between them, that is, the parking space is selected.

  In the above-described embodiment, the configuration in which the rear image captured by the rear camera 4 is displayed on the display device 7 in the configuration that is selected by the steering operation or the configuration that is selected by the winker operation is not necessarily limited thereto. 4 may not be used. In this case, for example, information indicating the selected obstacle, such as whether the selected obstacle is the left or right obstacle with respect to the own vehicle, or information indicating the selection result is displayed on the display device. The user may be notified by text display at 7 or voice output from the voice output device 8.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the technical means disclosed in different embodiments can be appropriately combined. Such embodiments are also included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Parking assistance ECU (parking assistance apparatus, selection confirmation means), S1 side obstacle detection means, S2 parking space detection means, S5 selection reception means, S7 target parking position determination means, S9 / S12 / S13 assistance means

Claims (13)

Mounted on the vehicle,
Side obstacle detection means (1, S1) for detecting the position of an obstacle present on the side of the route through which the vehicle passes;
Based on the position of the obstacle detected by the side obstacle detection means, a parking space detection means (1, S2) for detecting a parking space on the side of the route adjacent to the obstacle,
Target parking position determining means (1, S7) for determining a target parking position when the vehicle is parked in the parking space detected by the parking space detecting means;
A parking assistance device (1) comprising assistance means (1, S9, S12, S13) for assisting vehicle travel in which the vehicle is retracted and parked in parallel at the target parking position,
Selection accepting means (1, S5) for accepting an operation input of a user for selecting any one of the obstacles when the obstacle exists adjacent to both sides of the parking space detected by the parking space detecting means. )When,
Selection confirmation means (1) for confirming the selection of the obstacle selected by the operation input received by the selection reception means;
The target parking position determining means determines the target parking position so as to be a parking angle along a parking space facing surface that is a surface in contact with the parking space of an obstacle that has been selected by the selection determining means. Parking assistance device. In claim 1,
Inclination determination that determines the inclination of the path facing surface that is the surface facing the path side of each obstacle when the obstacle exists adjacent to both sides of the parking space detected by the parking space detection means Means (1, S4);
Inclination difference determination means (1, S4) for determining whether or not the difference in inclination of the path facing surface of each obstacle determined by the inclination determination means is greater than or equal to a predetermined value;
The selection accepting unit is a case where the obstacle exists adjacent to both sides of the parking space detected by the parking space detecting unit, and the path of each obstacle is opposed by the inclination difference determining unit. A parking assistance device that receives an operation input of a user for selecting any one of the obstacles when it is determined that a difference in surface inclination is equal to or greater than a predetermined value. In claim 1 or 2,
The target parking position determination means determines the target parking position so as to be a parking angle along the parking space facing surface, and determines the target parking position so as to approach the parking space facing surface. Parking assistance device. In any one of Claims 1-3,
The selection accepting unit is configured to select one of the obstacles for a steering operation for bringing an expected trajectory line of the vehicle determined according to a steering angle of the vehicle to one of the positions of the obstacles. A parking assistance device characterized in that it is accepted as an operation input. In claim 4,
The parking assist device, wherein the selection confirmation means confirms the selection of the obstacle when the steering angle of the vehicle does not change for a predetermined time or longer. In claim 4 or 5,
A rear image acquisition means (1) for acquiring a rear image captured by a rear camera (4) for capturing the rear of the vehicle;
A parking assistance device comprising: a display control unit (1) that causes the display device (7) to display the predicted trajectory line superimposed on a rear image acquired by the rear image acquisition unit. In claim 6,
The display control means, depending on which of the obstacles is selected by the selection accepting means, the color, thickness of the expected trajectory line to be displayed on the display device superimposed on the rear image, and A parking assistance device characterized by changing at least one of the shapes. In any one of Claims 1-3,
The selection receiving means selects any one of the obstacles as an operation input by a user for an operation switch for designating and operating left and right electric components mounted on the left and right sides of the vehicle. A parking assistance device that is received as a user operation input. In claim 8,
A rear image acquisition means (1) for acquiring a rear image captured by a rear camera (4) for capturing the rear of the vehicle;
A parking support device comprising: a display control means (1) for causing the display device (7) to display a rear image acquired by the rear image acquisition means. In any one of Claims 1-3,
A rear image acquisition means (1) for acquiring a rear image captured by a rear camera (4) for capturing the rear of the vehicle;
Display control means (1) for causing the display device (7) to display the rear image acquired by the rear image acquisition means;
Corresponding means (1) for associating the position of the obstacle detected by the side obstacle detecting means with the position in the rear image acquired by the rear image acquiring means,
The selection receiving unit is configured to input a user operation input to a position in the rear image by an operation switch for designating a position in the rear image based on the positional relationship associated by the association unit. A parking assistance device that accepts an operation input by a user who selects one of obstacles. In any one of Claims 6, 9, and 10,
The display control means causes at least one of highlighting and display indicated by a mark to be performed on the obstacle being selected by the selection receiving means in the rear image acquired by the rear image acquiring means. A parking assistance device characterized by the above. In any one of Claims 1-3,
When the obstacle exists adjacent to both sides of the parking space detected by the parking space detection means, the positional relationship between the parking space and the obstacle, the icon indicating the parking space, and the obstacle Display control means (1) for causing the display device (7) to display a simple image that is an image represented using an icon indicating
The selection receiving unit is configured to input an operation input for designating an icon indicating the obstacle in the simplified image by an operation switch for designating an icon indicating the obstacle in the simplified image to any of the obstacles. A parking assistance device, which is received as an operation input of a user who selects. In claim 12,
The display control unit causes at least one of highlighting and display with a mark to be performed on an icon indicating the obstacle that is being selected by the selection receiving unit in the simplified image. Parking assistance device.

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