JP2014071569A - Parking space detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate an error generated between a loading position of a range-finding sensor grasped by a parking space detection device and an actual loading position in the parking space detection device for detecting the parking space using the range-finding sensor.SOLUTION: When a vehicle 5 passes the lateral sides of parked vehicles 61 and 62, corners 311 and 321 of the parked vehicles 61 and 62 are detected using a lateral side range-finding sensor loaded on the lateral side of the vehicle 5. When the vehicles 61 and 62 are parked in a parallel parking thereafter, corners 312 and 322 of the parked vehicles 61 and 62 are detected using range-finding sensors 22 and 23 loaded on the front and the rear side of the vehicle 5. An off-set amount of the parking space (the primary detection space) detected when the vehicles pass the lateral side and the parking space (the secondary detection space) detected when the vehicles perform a parking operation is calculated from the corners 311 and 321 detected when passing the lateral side and the corners 312 and 322 detected when performing the parking operation. The loading position of the lateral range-finding sensor is corrected by the off-set amount or a warning against the loading state is generated.

Description

  The present invention relates to a parking space detection device that detects a parking space adjacent to a parked vehicle.

  2. Description of the Related Art Conventionally, a parking space detection device that detects a parking space adjacent to a parked vehicle using a distance measuring sensor such as an ultrasonic sensor is known (see, for example, Patent Document 1). In this type of parking space detection device, when the vehicle passes by the side of the parked vehicle, the distance to the parked vehicle (detection distance) is sequentially detected by the distance measuring sensor. Also, the position of the distance measuring sensor (sensor position) when performing distance detection using the moving state of the vehicle (vehicle speed, steering angle) and the mounting position of the distance measuring sensor (information on where the vehicle is mounted) ) Is calculated. And the contour point of a parked vehicle is calculated | required using those detection distances and sensor positions, and the parking space is detected from the calculated | required contour point.

JP 2008-21039 A

  By the way, the distance measuring sensor may be mounted on the vehicle after the vehicle is shipped (afterwards). When using a retrofit distance sensor, it is not precisely attached to the vehicle compared to the distance sensor (genuine distance sensor) originally installed in the vehicle. An error may occur between the mounting position of the distance measuring sensor and the actual mounting position. In this case, the detection accuracy of the parking space detected using the mounting position having an error is lowered.

  Even when a genuine distance measuring sensor is used, the mounting position of the distance measuring sensor may shift as the parking operation is repeated. Also in this case, since an error occurs between the mounting position grasped by the parking space detection device and the actual mounting position, the detection accuracy of the parking space is lowered.

  The present invention has been made in view of the above circumstances, and when an error occurs between the mounting position of the distance measuring sensor grasped by the parking space detection device and the actual mounting position, the parking that can eliminate the error. It is an object to provide a space detection device.

In order to solve the above problems, the present invention provides a distance detection means for sequentially detecting a distance to a parked vehicle existing around the vehicle,
Storage means for storing the mounting position of the distance detection means in the vehicle;
A moving state detecting means for detecting a moving state of the vehicle;
Position calculating means for calculating a sensor position which is a position of the distance detecting means when detecting the distance of the parked vehicle based on the mounting position and the moving state of the vehicle;
A first space detecting means for detecting a parking space adjacent to the parked vehicle when the parked vehicle is laterally passed based on a sensed distance detected by the distance detecting means and the sensor position;
Second space detection means for detecting the parking space during a parking operation with respect to the parking space;
A difference calculation means for calculating a difference between a primary detection space that is a parking space detected by the first space detection means and a secondary detection space that is a parking space detected by the second space detection means;
Countermeasure executing means for executing countermeasure processing for an error in the mounting position corresponding to the difference;
It is characterized by providing.

  According to the present invention, in addition to the first space detection means that detects the parking space (primary detection space) when the parked vehicle passes by the side, the second detection that detects the parking space (secondary detection space) during the parking operation. The space detection means is provided. If there is an error between the mounting position (the mounting position known by the parking space detection device) stored in the storage means and the actual mounting position, the primary detection space is actually equivalent to the error. It is detected at a position shifted from the parking space. On the other hand, since the secondary detection space is a parking space that is detected when the vehicle is actually parked in the parking space, the secondary detection space is detected at a more accurate position than the primary detection space. Since the difference between the primary detection space and the secondary detection space calculated by the difference calculation means corresponds to an error in the mounting position, it can be determined whether there is an error in the mounting position by looking at the difference. The countermeasure execution means executes the countermeasure process for the mounting position error, so that the mounting position error can be eliminated.

  As a first specific mode of the countermeasure process, the countermeasure execution means in the present invention is a correcting means for correcting the mounting position by the difference as the countermeasure process. According to this, since the mounting position is corrected by the difference, the mounting position error can be eliminated.

  As a second specific mode of the countermeasure processing, the countermeasure execution means of the present invention is a warning means for issuing a warning with respect to the mounted state of the distance detection means. That is, the second specific mode is a so-called diagnostic detection function that detects and warns of an abnormality in the mounting state of the distance detection means. Thereby, the user of the vehicle can recognize that the mounting state of the distance detecting means is abnormal (that an error has occurred in the mounting position). Therefore, an error in the mounting position can be eliminated by inspecting and repairing the mounting state of the distance detecting means at a dealer or the like.

1 is a block diagram showing a schematic configuration of a parking assistance device 1. FIG. It is the figure which showed an example of the detection scene of a parking space. It is a flowchart of a parking space detection process. It is a figure explaining the calculation method of the arrival direction of a reflected wave, and a reflective point. It is the figure which extracted only the triangle 7 of FIG. It is the figure which showed the scene which detects a parking space at the time of the side passage of the parked vehicles 61 and 62 parked in parallel. It is the scene after the detection scene of FIG. 6, and the figure which showed the scene which detects the parking space at the time of the parking operation to the parking space for parallel parking. It is the figure which showed the scene which detects a parking space at the time of the side passage of the parked vehicles 61 and 62 parked in parallel. It is the scene after the detection scene of FIG. 8, and the figure which showed the scene which detects the parking space at the time of the parking operation to the parking space for parallel parking. It is a figure for demonstrating that the influence of the error of the mounting position of a ranging sensor is small in the detection scene at the time of parking operation. It is an enlarged view of the A section of FIG. 4 is a detailed flowchart of S25 and S26 in FIG. 3.

  Hereinafter, an embodiment of a parking space detection device according to the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a schematic configuration of a parking assistance device 1 in which the parking space detection device of the present invention is realized. The parking assistance device 1 is a device that is mounted on the vehicle 5 (see FIG. 2) and assists parking, for example, by detecting a parking space that exists around the vehicle 5. As shown in FIG. 1, the parking assist device 1 includes a distance measuring sensor 2, a vehicle speed sensor 12, a steering angle sensor 13, a parking mode selection switch 14, a warning unit 15, and an ECU 11 connected thereto.

  The distance measuring sensor 2 is a sensor that detects a distance to an obstacle such as a parked vehicle existing around the distance measuring sensor 2. Specifically, the distance measurement sensor 2 transmits an exploration wave such as an ultrasonic wave at predetermined intervals (for example, every 100 milliseconds) in the front direction of the distance measurement sensor 2 based on an instruction from the ECU 11. The distance measuring sensor 2 receives the reflected wave reflected by the transmitted exploration wave hitting an obstacle. The distance measuring sensor 2 calculates the distance to the obstacle based on the transmission timing of the exploration wave and the reception timing of the reflected wave. Detection information (detection distance) detected by the distance measuring sensor 2 is input to the ECU 11. Note that the ECU 11 may calculate the detection distance. The distance measuring sensor 2 may be any sensor that transmits an exploration wave and receives a reflected wave of the exploration wave, and uses a radio wave regardless of whether it uses a sound wave or a light wave. May be. As the distance measuring sensor 2, for example, a sensor such as an ultrasonic sensor, a laser radar, or a millimeter wave radar can be used.

  FIG. 2 is a diagram showing an example of a parking space detection scene. Specifically, the parking space is parked when the vehicle 5 passes through the side path 100 of the two parked vehicles 61 and 62 that are parked in parallel. It is the figure which looked at the scene which detects the parking space 9 pinched | interposed between the vehicles 61 and 62 from the top. In the following, reference numeral 6 is used when the parked vehicles 61 and 62 are not distinguished. As shown in FIG. 2, the distance measuring sensors 2 are mounted at a plurality of locations on the outer peripheral surface of the vehicle 5. Specifically, the distance measuring sensor 2 is mounted on the left side distance measuring sensor 21L mounted on the left side surface 51 of the vehicle 5, the right side distance measuring sensor 21R mounted on the right side surface 52, and the front surface 53. A front distance measuring sensor 22 and a rear distance measuring sensor 23 mounted on the rear surface 54 are included. The obstacle detection range 41 (search wave transmission range) of the left-side distance measuring sensor 21L is set on the left side of the vehicle 5. The obstacle detection range 42 of the right side distance measuring sensor 21 </ b> R is set on the right side of the vehicle 5. The obstacle detection range 43 of the front distance measuring sensor 22 is set in front of the vehicle 5. The obstacle detection range 44 of the rear distance measuring sensor 23 is set behind the vehicle 5. The directivity φ of each distance measuring sensor 2 is, for example, about 70 ° to 120 °. Further, the maximum detection distance that each distance measurement sensor 2 can detect (in the example of the left-side distance measurement sensor 21L, the distance between the tip of the obstacle detection range 41 and the left-side distance measurement sensor 21L) is, for example, 4 m to It is about 10m. Hereinafter, when the left side distance measuring sensor 21L and the right side distance measuring sensor 21R are not distinguished, they are referred to as the side distance measuring sensor 21.

  The distance measuring sensor 2 may be a genuine distance measuring sensor originally mounted on the vehicle 5 from the time of shipment of the vehicle 5 or a retrofit distance measuring sensor mounted on the vehicle 5 after shipping. . In the present embodiment, when a genuine distance measuring sensor 2 is used, diagnostic detection is performed to detect a displacement of the mounting position of the distance measuring sensor 2, while when a rear distance measuring sensor 2 is used, parking assistance is performed. The mounting position of the distance measuring sensor 2 grasped by the device 1 (ECU 11) is corrected.

  The vehicle speed sensor 12 is a sensor that detects the vehicle speed of the vehicle 5. Detection information (vehicle speed) detected by the vehicle speed sensor 12 is input to the ECU 11. The steering angle sensor 13 is a sensor that detects the steering angle of the vehicle 5. Detection information (steering angle) detected by the steering angle sensor 13 is input to the ECU 11.

  The parking mode selection switch 14 is a switch that is provided, for example, in the vicinity of the driver's seat of the vehicle 5 and allows the driver of the vehicle 5 to select whether to support parallel parking or to support parallel parking. The parking mode selection switch 14 may be a mechanical switch or a touch switch displayed as a switch image on a liquid crystal display. The parking mode selected by the parking mode selection switch 14 is input to the ECU 11.

  The warning unit 15 is a part that warns the driver of the vehicle 5 when the mounting position of the distance measuring sensor 2 is deviated from the initial position, for example, a speaker or a display device. To do.

  The ECU 11 is composed mainly of a microcomputer composed of a CPU, a ROM, a RAM, and the like, and supports parking of the vehicle 5 based on each detection information input from the distance measuring sensor 2, the vehicle speed sensor 12, and the steering angle sensor 13. Perform various processes. Specifically, the ECU 11 detects a parked vehicle existing around the vehicle 5 when the vehicle 5 passes a side path of the parked vehicle or performs a parking operation, and based on the detection result. A parking space detection process for detecting a parking space existing around the vehicle 5 is executed. Moreover, ECU11 performs the automatic parking process which parks the vehicle 5 automatically in the parking space detected by the parking space detection process.

  In addition, the ECU 11 includes a memory 111 that stores the mounting position of the distance measuring sensor 2 in the vehicle 5 and the direction (front direction) of the distance measuring sensor 2. Specifically, the memory 111 stores, for example, coordinates based on the center 102 (see FIG. 2) of the rear wheel shaft 101 of the vehicle 5 as the mounting position of the distance measuring sensor 2. When the distance measuring sensor 2 is genuine, the mounting position is stored in the memory 111 when the vehicle 5 is manufactured. On the other hand, when the distance measuring sensor 2 is retrofitted, the mounting position temporarily set by the ECU 11 after the retrofitting is stored in the memory 111. 111 is stored.

  Hereinafter, details of the parking space detection process executed by the ECU 11 will be described. FIG. 3 shows a flowchart of the parking space detection process. The process of FIG. 3 is started when a switch (not shown) for instructing the start of parking assistance is operated by the driver of the vehicle 5, for example. During execution of the processing of FIG. 3, the ECU 11 instructs the distance measuring sensor 2 to sequentially detect the distance to the obstacle (parked vehicle 6) existing around the vehicle 5. When the processing of FIG. 3 is started, first, various parameters used in the subsequent processing are initialized (S11). Specifically, the time t (n) when the distance measuring sensor 2 performs distance detection is set to zero (S11). In addition, the number of times the distance measurement sensor 2 tries to detect the distance (measurement count) n is set to 1 (S11). Further, the vehicle 5 is currently passing the reverse flag Flag indicating whether the vehicle 5 is passing the side route 100 of the parked vehicle 6 or performing the back parking operation in the detected parking space. This value is set to “0” (S11). Further, when the distance measuring sensor 2 is genuine, a warning flag FlagCheck indicating whether or not to warn the mounted state of the distance measuring sensor 2 is set to a value “0” indicating that no warning is performed ( S11). The ECU 11 measures time t (n) (time based on t (1)) at each measurement count n.

  Next, it is determined whether or not the value of the parameter Mode indicating whether the side ranging sensor 21 is genuine or retrofitted is a value “1” indicating that it is retrofitted (S12). The value of Mode is set in advance in the ROM or the like depending on whether the lateral distance measuring sensor 21 is genuine or retrofitted. In the determination of S12, the front distance measuring sensor 22 and the rear distance measuring sensor 23 may be genuine or retrofitted. When Mode = 1, that is, when the side distance measuring sensor 21 is retrofitted (S12: Yes), the process proceeds to S13.

  In S13, the mounting position SenPosIni and the angle (orientation) SenAngIni of the side ranging sensor 21 in the vehicle 5 are temporarily set (S13). Specifically, as shown in FIG. 2, for example, the position of the center 102 of the rear wheel shaft 101 at the time of starting the processing of FIG. 3 is the origin O, and the traveling direction of the vehicle 5 at that time is the X axis and the X axis. A coordinate system with the vertical direction as the Y axis is set. A coordinate value (SenPosIniX, SenPosIniY) with reference to the origin O (center 102 of the rear wheel shaft 101) of the coordinate system is set as the mounting position SenPosIni. Specifically, the coordinate value (SenPosIniX, SenPosIniY) to be set may be determined in advance by a processing program, for example. Specifically, for example, a coordinate value near the left front wheel of the vehicle 5 is temporarily set as the mounting position SenPosIni of the left side ranging sensor 21L, and a coordinate near the right front wheel of the vehicle 5 is set as the mounting position SenPosIni of the right side ranging sensor 21R. Temporarily set a value. Note that. If the mounting position SenPosIni is corrected in S25, which will be described later, during the previous parking, the corrected mounting position SenPosIni is used as a temporarily set mounting position in S13.

  In S13, the angle SenAngIni of the side ranging sensor 21 may be determined in advance by the processing program. For example, a direction parallel to the rear wheel shaft 101 is temporarily set as the angle SenAngIni. Even when the front ranging sensor 22 and the rear ranging sensor 23 are retrofitted, in S13, the mounting position SenPosIni and the angle SenAngIni of the sensors 22 and 23 are temporarily set. The mounting position SenPosIni and the angle SenAngIni temporarily set in S13 are stored in the memory 111. It progresses to S14 after the process of S13.

  On the other hand, if Mode ≠ 1 in S12, that is, if the lateral distance measuring sensor 21 is genuine (S12: No), the memory 111 has already been loaded with the lateral distance measuring sensor 21 (mounting position SenPosIni, angle). Since (SenAngIni) is stored, the process proceeds to S14 without performing the process in S13.

  In S14, the detection distance L (n) at the measurement count n is acquired from each distance measuring sensor 2 (S14). When the ECU 11 itself is configured to calculate the detection distance L, in S14, the reception timing of the reflected wave is acquired from the distance measurement sensor 2, and the detection distance L (n) is calculated based on the transmission timing and the reception timing. calculate. When no obstacle exists in the obstacle detection ranges 41 to 44 (see FIG. 2) of the distance measuring sensor 2, that is, in the case of non-detection, the detection distance L (n) = 0.

  Next, the position (sensor position) SenPos of each distance measuring sensor 2 at the measurement count n is calculated (S15). Specifically, the sensor position SenPos is calculated as the coordinates (SenPosX (n), SenPosY (n)) in the coordinate system set in S13. More specifically, the sensor position SenPos is calculated based on the mounting position SenPosIni stored in the memory 111 and the detection information of the vehicle speed sensor 12 and the steering angle sensor 13. At this time, the moving distance of the distance measuring sensor 2 from the mounting position SenPosIni can be calculated from the vehicle speed input from the vehicle speed sensor 12 and the time t (n). Further, the moving direction of the distance measuring sensor 2 from the mounting position SenPosIni can be calculated from the steering angle input from the steering angle sensor 13. In other words, it is possible to know how much the mounting position SenPosIni has moved in which direction (moving change) from the moving distance and moving direction, and by adding the moving change to the mounting position SenPosIni, the sensor position SenPos is calculated. it can. The detection distance L (n) acquired in S14 is stored in a work memory such as a RAM in association with the sensor position SenPos.

  Next, it is determined whether or not the vehicle 5 is passing the side of the parked vehicle by checking whether or not the reverse flag FlagPark = 0. When the reverse flag FlagPark = 0 (S16: Yes), it is determined that the vehicle is passing sideways and the process proceeds to S17. In S17, the parking space is detected using the detection distance L (n) detected by the side ranging sensor 21 on the parking space side and the sensor position SenPos (S17). The parking space detection method will be described with reference to FIG. In the example of FIG. 2, the history of the detection distance detected by the left-side distance measuring sensor 21 </ b> L is illustrated by reference numeral 8 (dots). Each detection distance 8 is a point separated from the sensor position SenPos at each measurement count n by the detection distance in the front direction of the left side distance measurement sensor 21L (hereinafter referred to as a distance measurement point). Note that the front direction of the left side distance measuring sensor 21L can be specified from the angle SenAngIni stored in the memory 111. Since the obstacle detection range 41 has a certain extent, the distance detection by the left-side distance measuring sensor 21L is started before the vehicle 5 reaches the position facing the parked vehicle 6, and the vehicle 5 The distance detection by the left-side distance measuring sensor 21L continues for a while after passing. That is, the history range of the distance measuring point 8 is wider than the width of the parked vehicle 6. If it is attempted to detect the parking space directly from the history of the distance measuring points 8, a parking space narrower than the actual parking space 9 is detected.

  Therefore, in S17, the arrival direction of the reflected wave is estimated based on the principle of triangulation using the history of the distance measurement point 8 (detection distance, sensor position), and the detection distance L (from the sensor position SenPos to the arrival direction of the reflected wave is estimated. n) A point Rflt (hereinafter referred to as a reflection point) separated by a distance is calculated. The estimation of the reflection point based on the principle of triangulation is based on the assumption that the exploration wave from the distance measuring sensor 2 is reflected at the same point of the parked vehicle 6 between adjacent sensor positions. This reflection point Rflt is calculated as coordinates (RfltX (n), RfltY (n)) in the coordinate system of FIG. Here, FIG. 4 is a diagram for explaining a method of calculating the arrival direction of the reflected wave and the reflection point Rflt. Specifically, FIG. 4 shows a position 5b (illustrated by a solid line) of the vehicle 5 in the measurement count n, a position 5a (illustrated by a broken line) of the vehicle 5 in the immediately preceding measurement count n−1, and the parked vehicle 6. The figure which looked at from the top is shown. As shown in FIG. 4, the sensor position SenPos (n) and the detection distance L (n) at the measurement count n, and the sensor position SenPos (n-1) and the detection distance L (n-1) at the measurement count n-1. Consider a triangle 7 consisting of

FIG. 5 shows a diagram in which only the triangle 7 is extracted. Based on the coordinate components of the sensor positions SenPos (n) and SenPos (n−1), the vector components (SenPosBktX, SenPosBktX) of the side 71 between the positions and the absolute value SenPosBkt of the vector are calculated. Further, assuming that the angle formed between the side 71 and the side 72 of the detection distance L (n) is θ (n), the angle θ (n) is calculated by the following equation 1. This angle θ (n) corresponds to the arrival direction of the reflected wave.

  Then, the angle θ (n), the above vector components (SenPosBktX, SenPosBktY), and the absolute value SenPosBkt are substituted into the following equations 2 to 6, and the coordinates of the vertex 3 of the triangle 7 (RfltX (n), RfltY (n) )) Is calculated as the reflection point Rflt.

  As a result, the history of the reflection point 3 can be plotted at a position substantially coinciding with the surface of the parked vehicle 6 as the vehicle 5 moves. In S17, from the history of the reflection point 3 with respect to the parked vehicle 61 (the first parked vehicle) through which the vehicle 5 first passes, the position Side1 of the corner 611 of the first parked vehicle 61 (hereinafter referred to as 1 when passing). Determine the corner). The first corner Side1 at the time of passage is determined as the coordinates (Side1X, Side1Y) of the coordinate system set in S13. Specifically, for example, in the history of the reflection point 3 with respect to the first parked vehicle 61, one vehicle passes the X coordinate of the reflection point 3 (the reflection point closest to the parking space) having the maximum X coordinate. The X coordinate Side1X of the eye corner Side1 is set, and the Y coordinate of the reflection point 3 (reflection point closest to the side path) having the minimum Y coordinate is set as the Y coordinate Side1Y of the first corner Side1 when passing.

  Similarly, from the history of the reflection point 3 with respect to the parked vehicle 62 (second parked vehicle) through which the vehicle 5 passes next, the position Side2 of the corner 621 of the second parked vehicle 62 (hereinafter referred to as the second parked vehicle). Corner). The second corner at the time of passing is also determined as the coordinates (Side2X, Side2Y) of the coordinate system set in S13. Specifically, for example, in the history of the reflection point 3 with respect to the second parked vehicle 62, the second vehicle when passing the X coordinate of the reflection point 3 (the reflection point closest to the parking space) having the smallest X coordinate. The X coordinate Side2X of the corner Side2 is set, and the Y coordinate of the reflection point 3 (the reflection point closest to the side path) having the minimum Y coordinate is set as the Y coordinate Side2Y of the second corner Side2 when passing. In FIG. 2, the point of the first corner Side1 at the time of passage detected in S17 is illustrated by reference numeral 31, and the point of the second corner Side2 at the time of passage is illustrated by reference numeral 32. And in S17, between these corners Side1 and Side2 (in the example of FIG. 2, between corners 31 and 32) is detected as a parking space.

  Next, it is determined whether or not the parking spaces Side1 and Side2 detected in S17 can be parked, that is, whether or not the reverse flag FlagPark can be set to 1 (S18). Specifically, for example, the width of the vehicle 5 is compared with the width of the parking space (Side1-Side2) detected in S17. If the width of the parking space is larger than the width of the own vehicle + the clearance, In the case of parallel parking, it is determined that parking is possible if it is larger than the vehicle length + clearance, and it is determined that parking is impossible if it is smaller. When the vehicle 5 has not yet reached the corner 621 of the second parked vehicle 62 and the second corner Side2 has not been detected when passing, it is determined that parking is impossible. When it is determined that parking is possible, the reverse flag FlagPark is set to 1. When it is determined that parking is impossible, the reverse flag FlagPark is kept at 0 (S18).

  Next, it is determined whether or not there is an instruction to end the process of FIG. 3 (S19). For example, when a switch (not shown) for instructing the end of the process in FIG. 3 is operated by the driver, or when parking is completed, it is determined that there is an instruction to end the process in FIG. When there is no end instruction yet (S19: No), the process proceeds to S20, and the measurement count n is updated to the next value (S20). Thereafter, returning to S14, the detection distance L (n) is acquired for the updated measurement count n (S14), and the sensor position SenPos is calculated (S15). If the reverse flag FlagPark is maintained at 0 in the previous S18, it is determined in S16 that FlagPark = 0 (S16: Yes), and the processes of S17 and S18 are performed again. Thus, the process of S14-S20 is repeatedly performed until the parking space which the vehicle 5 can park is detected.

  In S18, when the reverse flag FlagPark is set to 1, it indicates that the parking space is detected and the parking operation in the parking space is possible. Here, FIG. 6 and FIG. 8 are diagrams for explaining the difference between the detected parking space 91 (hereinafter referred to as the primary detection space) and the actual parking space 9, and the vehicle 5 is parked as in FIG. The figure which looked at the scene which detects parking space when the vehicles 61 and 62 pass by the side was seen from the top. FIG. 6 is a diagram in the case of parallel parking, and FIG. 8 is a diagram in the case of parallel parking.

  As shown in FIGS. 6 and 8, the side distance measuring sensor 21 (left side distance measuring sensor 21 </ b> L in FIGS. 6 and 8) is retrofitted and mounted, for example, near the center in the vehicle length direction of the left side surface 51 of the vehicle 5. Suppose that Further, the mounting position SenPosIni of the left-side distance measuring sensor 21L temporarily set in S13 is assumed to be near the left front wheel of the vehicle 5. In this case, an error occurs between the left side distance measuring sensor 21L 'grasped by the ECU 11 and the actual left side distance measuring sensor 21L. Therefore, the first corner 311 at the time of passage detected in S17 is detected at a position offset from the actual corner 611 by an amount corresponding to the error.

  Similarly, the second corner 321 at the time of passage detected in S17 is detected at a position offset from the actual corner 621 by an amount corresponding to the error of the left side distance measuring sensor 21L '. 6 and 8, the first corner 311 at the time of passing is detected at a position offset from the actual corner 611 toward the vehicle traveling direction. Similarly, the second corner 321 at the time of passing is also detected at a position offset from the actual corner 621 toward the vehicle traveling direction. 6 and 8, the parked vehicle grasped from the first corner 311 at the time of passage is illustrated by a broken line 61 ′, and the parked vehicle grasped from the second corner 321 at the time of passage is illustrated by a broken line 62 ′.

  As described above, when an error occurs between the left-side distance measuring sensor 21L ′ grasped by the ECU 11 and the actual left-side distance measuring sensor 21L, the corners 311 and 321 are detected at offset positions and are obtained from the corners 311 and 321. The primary detection space 91 is also detected at a position offset from the actual parking space 9. 6 and 8, the primary detection space 91 is detected at a position offset from the parking space 9 toward the vehicle traveling direction.

  Even if the side distance measuring sensor 21 is genuine, the mounting position of the side distance measuring sensor 21 may deviate from the initial position during repeated parking operations. Also in this case, as shown in FIGS. 6 and 8, the primary detection space 91 is detected at a position offset from the actual parking space 9.

  Therefore, in the subsequent processing, processing (error correction or diagnosis detection) for eliminating the error of the mounting position of the side ranging sensor 21 (mounting position SenPosIni stored in the memory 111) grasped by the ECU 11 is performed. Yes. That is, if the reverse flag FlagPark is set to 1 in S18, the back parking operation to the detected parking spaces Side1, Side2 is started. The back parking at this time may be parking by the driver's own driving operation or may be automatic parking that allows the driver to park without performing the driving operation. However, when automatic parking is performed in a parking space with low detection accuracy, there is a possibility of parking at a position deviated from the center of the actual parking space. It is preferable that the back parking is performed by the driver's own driving operation for the first time or a plurality of times (for example, about 5 times) after the retrofitting. In this case, in the parking process by the driver's own driving operation, the mounting position SenPosIni is learned (corrected) by the subsequent processing so as to be the correct position. Then, the automatic parking is switched from the time after the learning is finished. In the case of performing the back parking by the driver's own driving operation, for example, when the reverse flag FlagPark is set to 1 in S18, the ECU 11 performs a notification for urging to park by the driver's own driving operation.

  When performing automatic parking, when the reverse flag FlagPark is set to 1 in S18, the ECU 11 moves to the primary detection space based on the positional relationship between the primary detection space and the vehicle 5. Is calculated. Then, the ECU 11 controls the steering actuator of the vehicle 5 so that the vehicle 5 moves according to the movement route.

  Even after the parking operation is started, the ECU 11 causes the distance measuring sensor 2 to detect the distance (S14) and calculates the sensor position SenPos (S15) until an instruction to end S19 is received (S19: No). Since the reverse flag FlagPark = 1 is set in S18, it is determined that the parking operation is being performed in S16 (S16: No), and the process proceeds to S21. In S21, it is determined whether the parking mode input from the parking mode selection switch 14 (see FIG. 1) is parallel parking or parallel parking (S21). Note that the timing at which the driver operates the parking mode selection switch 14 may be, for example, at the start of the process in FIG.

  In the case of parallel parking (S21: Yes), the process proceeds to S22, and the vehicle 5 is about to park using the front ranging sensor 22 (see FIG. 2) and the rear ranging sensor 23 (see FIG. 2). A parking space is detected (S22). Here, FIG. 7 is a scene after the detection scene of FIG. 6, and a scene in which the parking space 9 is detected using the front distance measuring sensor 22 and the rear distance measuring sensor 23 during the parking operation in the parking space 9. Show. In FIG. 7, parts that are the same as those in FIG. 6 are given the same reference numerals. Referring to FIG. 7, the process of S <b> 22 will be described. In S <b> 22, the position Park <b> 1 of the corner 611 of the first parked vehicle 61 (hereinafter referred to as the first corner during parking) is determined using the rear distance measuring sensor 23. Detect. Specifically, the first corner Park1 during parking is detected using the history of the detection distance L (n) detected by the rear distance measuring sensor 23. More specifically, for example, the history of the detection distance L (n) detected by the rear ranging sensor 23 and the history of the sensor position SenPos of the rear ranging sensor 23 are the same as when the primary detection space is detected in S17. Based on the above, the reflection point is calculated according to the principle of triangulation (Equation 1 to Equation 6). This reflection point is detected at a position substantially coincident with the surface 612 on the parking space 9 side of the front and rear surfaces of the first parked vehicle 61. For example, in the history of reflection points, the X coordinate of the reflection point having the maximum X coordinate is set as the X coordinate Park1X of the first corner Park1 during parking, and the Y of the reflection point having the minimum Y coordinate. Let the coordinates be the Y coordinate Park1Y of the first corner Park1 during parking. In FIG. 7, a point of the first corner Park <b> 1 at the time of parking is illustrated by reference numeral 312.

  The front distance measuring sensor 22 is used to detect the position Park2 of the corner 621 of the second parked vehicle 62 (hereinafter referred to as the second corner when parked). Specifically, for example, the history of the detection distance L (n) detected by the front distance measuring sensor 22 and the sensor position SenPos of the front distance measuring sensor 22 are the same as when the first corner Park1 is detected during parking. Based on this history, the reflection point is calculated by the triangulation principle. This reflection point is detected at a position substantially coincident with the surface 622 on the parking space 9 side of the front and rear surfaces of the second parked vehicle 62. For example, in the history of reflection points, the X coordinate of the reflection point having the smallest X coordinate is set as the X coordinate Park2X of the second corner Park2 during parking, and the Y of the reflection point having the smallest Y coordinate. The coordinates are set as the Y coordinate Park2Y of the second corner Park2 at the time of parking. In FIG. 7, the point of the second corner Park <b> 2 at the time of parking is indicated by reference numeral 322.

  Note that even if there is an error in the mounting position SenPosIni of the front distance measuring sensor 22 and the rear distance measuring sensor 23, the offset amount of the reflection point in the X-axis direction is hardly affected. Therefore, the first corner 312 during parking in FIG. 7 is detected at a position close to the actual corner 611. Similarly, the second corner 322 is detected at a position close to the actual corner 621 during parking.

  In S22, the detected space between the first parking corner Park1 and the second parking parking corner Park2 (hereinafter referred to as secondary detection space) is detected as a parking space. In the example of FIG. 7, a space 92 between the first vehicle corner 312 during parking and the second vehicle corner 322 during parking is detected as a secondary detection space. The secondary detection space 92 is detected at a position close to the actual parking space 9.

  On the other hand, in S21, in the case of parallel parking (S21: No), it progresses to S23. In S23, the parking space where the vehicle is to park is detected using both the left and right side distance measuring sensors 21L and 21R (S23). Here, FIG. 9 is a scene after the detection scene of FIG. 8, and a scene in which the parking space 9 is detected using both the left and right side distance measuring sensors 21 </ b> L and 21 </ b> R during the parking operation in the parking space 9. Show. In FIG. 9, parts that are the same as those in FIG. The process of S23 will be described with reference to FIG. 9. In S23, the first corner Park1 during parking is detected using the right side distance measuring sensor 21R. Specifically, similarly to S17 and S22, based on the history of the detection distance L (n) detected by the right side distance measuring sensor 21R and the history of the sensor position SenPos of the right side distance measuring sensor 21R, triangulation The reflection point is calculated according to the principle (Equation 1 to Equation 6). This reflection point is detected at a position substantially coincident with the side surface 613 of the first parking vehicle 61 on the parking space 9 side. Based on the history of the reflection points, the first corner Park1 during parking is detected. Specifically, for example, the first vehicle corner Park1 may be detected in the same manner as in S22, and the direction of the parked vehicle 61 (direction of the side surface 613) can be known from the history of reflection points. Thus, the orientation of the first corner 311 during passage and the primary detection space 91 (see FIG. 8) detected in S17 may be corrected. When the first vehicle corner is corrected when passing, the corrected first vehicle corner becomes the first vehicle corner Park1 during parking. In FIG. 9, the point of the first corner Park <b> 1 at the time of parking is indicated by reference numeral 312.

  In S23, the second corner Park2 at the time of parking is detected using the left side distance measuring sensor 21L. The detection method is the same as the detection method of the first corner Park1 during parking. In FIG. 9, the point of the second corner Park <b> 2 at the time of parking is indicated by reference numeral 322.

  Even if there is an error in the mounting position SenPosIni of the side ranging sensor 21, the influence of the error in the detection scene at the time of the parking operation is smaller than that in the detection scene at the side passage. 10 and 11 are diagrams for explaining this, FIG. 10 is a view similar to FIG. 9, and FIG. 11 is an enlarged view of a portion A in FIG. If the detection distance detected by the left side distance measuring sensor 21L at the time of FIG. 10 is L, FIG. 10 shows a measurement distance from the left side distance measuring sensor 21L by the detection distance L in the front direction of the left side distance measuring sensor 21L. A distance point 81 and a distance measurement point 82 separated from the left side distance measurement sensor 21L ′ grasped by the ECU 11 by a detection distance L in the front direction of the left side distance measurement sensor 21L ′ are illustrated. The distance measuring point 81 is an actual distance measuring point, and the distance measuring point 82 is a distance measuring point grasped by the ECU 11. An error of the left side distance measuring sensor 21L '(a difference between the mounting position of the left side distance measuring sensor 21L' and the actual mounting position) is d, and the inclination of the vehicle 5 with respect to the parking space 9 is α. At this time, as shown in FIG. 11, the error Δx in the X-axis direction of the distance measuring point 82 with respect to the actual distance measuring point 81 is obtained by Δx = d × sin α. When the vehicle 5 passes by the side, the inclination α = 90 ° (when the parked vehicles 61 and 62 (parking space 9) are not inclined with respect to the moving direction of the vehicle 5), and therefore Δx = d. That is, at the time of passing through the side, the error d of the left-side distance measuring sensor 21L ′ becomes the error Δx in the X-axis direction of the distance measuring point as it is, and is calculated based on the history of the distance measuring point (detected distance history). The accuracy of detecting reflection points and corners is low.

  On the other hand, when the parking is completed, the inclination α = 0 °, so Δx = 0. That is, even when there is an error d in the left-side distance measuring sensor 21L 'when parking is completed, the error d does not affect the error Δx in the X-axis direction of the distance measuring point. In the parking operation, the inclination α is a value in the range of 0 ° <α <90 °, and the error Δx is a value in the range of 0 <Δx <d. As described above, the reflection point (ranging point) calculated during the parking operation has higher accuracy (particularly the accuracy of the X-coordinate is higher) than when passing through the side, so that the corner detected based on the reflection point is detected. The accuracy is high. 9 is detected at a position close to the actual corner 611 during parking. Similarly, the second corner 322 is detected at a position close to the actual corner 621 during parking.

  In S23, the detected space between the first parking corner Park1 and the second parking parking corner Park2 is detected as a secondary detection space. In the example of FIG. 9, a space 92 between the first vehicle corner 312 during parking and the second vehicle corner 322 during parking is detected as a secondary detection space. The secondary detection space 92 is detected at a position close to the actual parking space 9.

  Note that the process of S22 or S23 is repeatedly executed until an end instruction is issued in S19 (S19: No). At this time, immediately after the start of the parking operation, even if the secondary detection spaces Park1 and Park2 cannot be detected because the history of the detection distance is small, the history of the detection distance is accumulated as the parking operation proceeds. Therefore, the secondary detection space can be detected when parking is completed.

  In S19, when there is an end instruction (such as when parking is completed) (S19: Yes), the process proceeds to S24. In S24, as in S12, it is determined whether the value of Mode is 1. If Mode = 1, that is, if the side ranging sensor 21 is retrofitted (S24: Yes), the process proceeds to S25. In S25, based on the primary detection spaces Side1 and Side2 and the secondary detection spaces Park1 and Park2, a correction process for correcting the mounting position SenPosIni of the side ranging sensor 21 is executed.

  On the other hand, if Mode ≠ 1 in S24, that is, if the lateral distance measuring sensor 21 is genuine (S24: No), the process proceeds to S26. In S26, based on the primary detection spaces Side1 and Side2 and the secondary detection spaces Park1 and Park2, a setting process of a warning flag FlagCheck for diagnostic detection of the side ranging sensor 21 is executed.

  FIG. 12 shows a detailed flowchart of S25 and S26. When the process proceeds to FIG. 12, first, the difference (Side1X−Park1X) between the X coordinate Side1X of the first vehicle corner Side1 during passage and the X coordinate Park1X of the first vehicle corner Park1 during parking is calculated as the first vehicle offset amount Offset1. (S31). Similarly, the difference (Side2X−Park2X) between the X coordinate Side2X of the second vehicle corner Side2 during passage and the X coordinate Park2X of the second vehicle corner Park2 during parking is calculated as the second vehicle offset amount Offset2 (S32). 7 and 9, the difference between the X coordinate of the first vehicle corner 311 when passing and the X coordinate of the first vehicle corner 312 when parking is calculated as the first vehicle offset amount Offset1, and the second vehicle corner when passing. The difference between the X coordinate of 321 and the X coordinate of the second vehicle corner 322 during parking is calculated as the second vehicle offset amount Offset2.

  Next, the value of the parameter Method specifying the correction method for the mounting position SenPosIni is confirmed (S32). In this embodiment, three examples are prepared as the correction method. The correction method according to the first example is Method = 1, the correction method according to the second example is Method = 2, and the third method is used. The correction method according to the embodiment is Method = 3. The correction method of which embodiment is executed, that is, the value of Method is preset in the ROM or the like.

(Example 1: Method = 1)
If Method = 1 in S32, the process proceeds to S34. In S34, the average value of the first unit offset amount Offset1 and the second unit offset amount Offset2 is calculated as the offset amount Offset of the primary detection spaces Side1, Side2, and the secondary detection spaces Park1, Park2 (S34). Thereby, both the first offset amount Offset1 (detection result of the first parked vehicle 61) and the second offset amount Offset2 (detection result of the second parked vehicle 62) are reflected as the offset amount Offset. A value can be obtained. This offset amount Offset corresponds to an error of the mounting position SenPosIni.

  Next, it is determined whether or not the offset amount Offset is larger than a predetermined threshold th2. If it is smaller (S35: No), the process proceeds to S42 to determine whether Method = 3. If Method = 1 (S42: No), the process of the flowchart of FIG. 12 is terminated. As described above, when Method = 1 and the offset amount Offset is smaller than the threshold value th2, it is determined that the accuracy of the current mounting position SenPosIni is high, and the mounting position SenPosIni is corrected and a warning for diagnosis detection (FlagCheck = 1) is performed. I will not.

  In S35, when the offset amount Offset is larger than the threshold th2 (S35: Yes), the process proceeds to S36, and it is determined whether Method = 3. In the case of Method = 1 (S36: No), the process proceeds to S39, and it is determined whether Mode = 1. When Mode = 1, that is, when the lateral distance measuring sensor 21 is retrofitted (S39: Yes), the process proceeds to S40, and the mounting position SenPosIni is corrected. Specifically, a value obtained by subtracting the offset amount Offset from the X coordinate SenPosIniX of the current mounting position SenPosIni (SenPosIniX-Offset) is set as the X coordinate SenPosIniX of the new mounting position SenPosIni. As a result, the mounting position SenPosIni can be brought closer to the actual mounting position (the error of the mounting position SenPosIni can be eliminated). After S40, the process of the flowchart of FIG.

  In S39, if Mode ≠ 1, that is, if the side distance measuring sensor 21 is genuine (S39: No), the process proceeds to S41, and the warning flag FlagCheck is set to 1. By setting the warning flag FlagCheck = 1, a warning is issued in S28 of FIG. 3 to be described later. After S41, the process of the flowchart of FIG.

  Thus, in the case of Method = 1, whether or not the mounting position is corrected or warned is determined depending on whether or not the offset amount Offset is larger than the threshold value th2. Therefore, in the case of Method = 2 and 3, which will be described later. Compared with this, processing can be simplified.

(Example 2: Method = 2)
In S32, if Method = 2, the process proceeds to S33. In S33, it is determined whether or not the absolute value of the difference between the first unit offset amount Offset1 and the second unit offset amount Offset2 is smaller than a predetermined threshold th1 (S33). Here, the purpose of the process of S33 will be described. When the accuracy of the detection distance detected by the distance measuring sensor 2 is high, the first unit offset amount Offset1 and the second unit offset amount Offset2 are equivalent values. That is, the absolute value | Offset1-Offset2 | is smaller than the threshold value th1. On the other hand, when the absolute value | Offset1-Offset2 | is larger than the threshold th1, the first offset amount Offset1 and the second offset amount Offset2 may be calculated from the low-precision detection distance. In this case, the error of the mounting position SenPosIni cannot be accurately evaluated.

  Therefore, when the absolute value | Offset1-Offset2 | is larger than the threshold th1 (S33: No), the process proceeds to S42, and it is determined whether Method = 3. If Method = 2 (S42: No), the process of the flowchart of FIG. 12 is terminated. As described above, when Method = 2 and the absolute value | Offset1-Offset2 | is larger than the threshold value th1, the correction of the mounting position SenPosIni and the warning of the diagnosis detection (FlagCheck = 1) are not performed. Thereby, when the error of the mounting position SenPosIni cannot be accurately evaluated, it is possible to prevent the mounting position SenPosIni from being corrected or warned.

  If the absolute value | Offset1-Offset2 | is smaller than the threshold value th1 in S33, the process proceeds to S33. The subsequent processing is the same as in the first embodiment (Method = 1).

(Example 3: Method = 3)
If Method = 3 in S32, the process proceeds to S33, and it is determined whether or not the absolute value | Offset1-Offset2 | is smaller than the threshold th1 as described in the second embodiment. If the absolute value | Offset1-Offset2 | is larger than the threshold th1 (S34: No), the process proceeds to S42, and it is determined whether Method = 3. If Method = 3 (S42: Yes), the process proceeds to S43, and the parameter FlagCheckNum indicating the number of times that the offset amount Offset calculated in S34 exceeds the threshold th2 in S35 (hereinafter referred to as the superthreshold number) is set to zero. To do. Then, the process of the flowchart of FIG. As described above, when Method = 3 and the absolute value | Offset1-Offset2 | is larger than the threshold value th1, the correction of the mounting position SenPosIni and the warning of diagnosis detection (FlagCheck = 1) are not performed. Thereby, when the error of the mounting position SenPosIni cannot be accurately evaluated, it is possible to prevent the mounting position SenPosIni from being corrected or warned.

  If the absolute value | Offset1-Offset2 | is smaller than the threshold th1 in S33 (S33: Yes), the process proceeds to S34. Then, an average value of the first unit offset amount Offset1 and the second unit offset amount Offset2 is calculated as the offset amount Offset (S34). Next, it is determined whether or not the offset amount Offset is larger than the threshold value th2 (S35). If it is smaller (S35: No), the process proceeds to S43 via S42, and the threshold value overthrow FlagCheckNum is set to zero.

  In S35, when the offset amount Offset is larger than the threshold th2 (S35: Yes), the process proceeds to S36, and it is determined whether Method = 3. In the case of Method = 3 (S36: Yes), the process proceeds to S37, and “1” is added to the threshold number of times FlagCheckNum, and the flag number of times FlagCheckNum is updated (FlagCheckNum = FlagCheckNum + 1). Next, it is determined whether or not the threshold number of times FlagCheckNum is equal to or greater than a predetermined number (S38). When the number is less than the predetermined number (S38: No), the process of the flowchart of FIG.

  If the threshold value excess number FlagCheckNum is equal to or greater than the predetermined number (S38: Yes), the process proceeds to S39, and it is determined whether Mode = 1. When Mode = 1 (S39: Yes), the process proceeds to S40, and the mounting position SenPosIni is corrected (SenPosInix = SenPosInix-Offset). If Mode ≠ 1 (S39: No), the process proceeds to S41, and the warning flag FlagCheck is set to 1.

  As described above, in the third embodiment, when the offset amount Offset exceeds the threshold th2 continuously for a predetermined number of times (FlagCheckNum ≧ predetermined number), the mounting position SenPosIni is corrected or warned. In other words, when the offset amount Offset smaller than the threshold th2 is detected before the predetermined number of times is reached, the mounting position SenPosIni is not corrected or warned. As a result, it is possible to accurately determine that there is an error in the mounting position SenPosIni, and it is possible to accurately correct and warn the mounting position SenPosIni.

  Returning to the description of FIG. 3, when the processing of S25 or S26 ends, the process proceeds to S27 to determine whether or not the warning flag FlagCheck = 1. If the warning flag FlagCheck = 0 (S27: No), the processing of the flowchart of FIG. 3 is terminated. In this case, no warning is given to the mounted state of the side distance measuring sensor 21 on the assumption that the genuine side distance measuring sensor 21 is not misaligned. On the other hand, when the warning flag FlagCheck = 1 (S27: Yes), the process proceeds to S28, and the warning unit 15 (see FIG. 1) assumes that there is a positional deviation in the genuine lateral distance measuring sensor 21. A warning is given to the mounting state of the lateral distance measuring sensor 21. For example, the warning unit 15 warns the driver by voice or display that an abnormality has occurred in the mounting state of the lateral distance measuring sensor 21. Thereby, the error of the mounting position SenPosIni can be eliminated by repairing and inspecting the mounting state of the side ranging sensor 21 at a dealer or the like. After S28, the process of the flowchart of FIG.

  As described above, according to the present embodiment, when the difference between the primary detection space and the secondary detection space (offset amount Offset) is large, correction and warning are performed for the mounting position of the distance measuring sensor. The position error can be eliminated. As a result, the detection accuracy of the primary detection space can be improved.

  In addition, the parking space detection apparatus which concerns on this invention is not limited to the said embodiment, A various change is possible in the limit which does not deviate from description of a claim. For example, in S34 of FIG. 12, the average value of the first unit offset amount Offset1 and the second unit offset amount Offset2 is set as the offset amount Offset, but either the first unit offset amount Offset1 or the second unit offset amount Offset2 is offset. It may be used as a quantity Offset. Thereby, the calculation amount when calculating | requiring offset amount Offset can be reduced.

  In the case of Method = 3 in FIG. 12, correction and warning for the mounting position are performed when the offset amount Offset exceeds the threshold th2 continuously for a predetermined number of times or more. You may remove the requirement. Accordingly, it is possible to easily perform the correction and warning while maintaining the accuracy of the correction and warning for the mounting position to some extent.

DESCRIPTION OF SYMBOLS 1 Parking assistance apparatus 2 Distance sensor 5 Vehicle 6, 61, 62 Parked vehicle 11 ECU
111 Memory 12 Vehicle speed sensor 13 Steering angle sensor 15 Warning section 91 Primary detection space 92 Secondary detection space

Claims (15)

Distance detecting means (2, 21-23) for sequentially detecting the distance to the parked vehicles (6, 61, 62) existing around the vehicle (5);
Storage means (111) for storing the mounting position of the distance detection means in the vehicle;
A moving state detecting means (12, 13) for detecting the moving state of the vehicle;
Position calculating means (S15) for calculating a sensor position which is the position of the distance detecting means when detecting the distance of the parked vehicle based on the mounting position and the moving state of the vehicle;
First space detecting means (9) for detecting a parking space (9) adjacent to the parked vehicle when the parked vehicle passes laterally based on a detected distance that is a distance detected by the distance detecting means and the sensor position. S17)
Second space detection means (S22, S23) for detecting the parking space during a parking operation with respect to the parking space;
The difference which calculates the difference of the primary detection space (91) which is the parking space which the said 1st space detection means detected, and the secondary detection space (92) which is the parking space which the said 2nd space detection means detected Calculating means (S31, S34);
Countermeasure execution means (S40, S41, S28, 15) for executing countermeasure processing for an error in the mounting position corresponding to the difference;
A parking space detecting device (1) comprising:   The parking space detection device according to claim 1, wherein the countermeasure execution means is correction means (S40) that corrects the mounting position by the difference as the countermeasure processing.   The parking space detection device according to claim 1, wherein the countermeasure execution means is a warning means (S41, S28, 15) that issues a warning with respect to a mounted state of the distance detection means. The distance detection means includes a side distance detection means (21) that is mounted on a side surface of the vehicle and detects a distance to an obstacle present on a side of the vehicle.
The first space detection means detects the primary detection space using the side distance detection means,
The parking space detection device according to any one of claims 1 to 3, wherein the countermeasure execution unit executes the countermeasure process for the lateral distance detection unit. Parking mode determination means (S21, 14) for determining whether to perform parallel parking or parallel parking,
The distance detection means includes front and rear distance detection means (22, 23) that are mounted in front of and behind the vehicle and detect a distance to an obstacle existing in front of the vehicle and an obstacle existing behind.
The second space detection means (S22) detects the secondary detection space using the front-rear distance detection means when the parking mode determination means determines to perform parallel parking. The parking space detection device according to claim 4. The lateral distance detection means is mounted on each of the left and right side surfaces of the vehicle,
When the second space detection means (S23) determines that the parking mode determination means performs parallel parking, the side distance detection means (21L) mounted on the left side surface of the vehicle; The parking space detection device according to claim 3, wherein the secondary detection space is detected using both of the side distance detection means (21R) mounted on the right side surface of the vehicle. The first space detection means and the second space detection means detect corners (611, 621) of the parked vehicle as corners of the parking space,
The difference calculating means calculates, as the difference, an offset amount that is a difference between the corners (311 and 321) detected by the first space detecting means and the corners (312 and 322) detected by the second space detecting means. The parking space detection device according to any one of claims 1 to 6, wherein The first space detection means and the second space detection means are a first corner (611) that is a corner of the first parked vehicle (61) and a second corner that is the corner of the second parked vehicle (62). Detect the parking space sandwiched between the corners (621),
The difference calculating means includes
A first offset amount which is a difference between a first corner (311) detected by the first space detection means and a first corner (312) detected by the second space detection means; and the first space detection means. Offset amount calculating means (S31) for calculating a second offset amount which is a difference between the second corner (321) detected by the second space detecting means and the second corner (322) detected by the second space detecting means;
The parking space detection device according to claim 7, further comprising an average value calculating means (S34) for calculating an average value of the first offset amount and the second offset amount as the offset amount. Difference determining means (S33) for determining whether an offset difference, which is a difference between the first offset amount and the second offset amount, is larger or smaller than a predetermined first threshold;
The countermeasure execution means executes the countermeasure process when the offset difference is smaller than the first threshold, and stops execution of the countermeasure process when the offset difference is larger than the first threshold. The parking space detection device according to claim 8. An offset amount determining means (S35) for determining whether the offset amount is larger or smaller than a predetermined second threshold;
The countermeasure execution means executes the countermeasure process when the offset amount is larger than the second threshold value, and stops executing the countermeasure process when the offset amount is smaller than the second threshold value. The parking space detection device according to any one of claims 7 to 9. The offset amount is calculated every time the vehicle parks, and it is determined whether it is larger or smaller than the second threshold,
A state determining means (S37, S38, S43) for determining whether or not the offset amount is greater than the second threshold value a predetermined number of times or more;
The parking space detection device according to claim 10, wherein the countermeasure execution unit executes the countermeasure process in the state and stops the execution of the countermeasure process when the state is not the state.   The parking space according to claim 11, wherein the state determination unit determines whether or not the state is the state in which the offset amount is greater than the second threshold continuously for the predetermined number of times or more. Detection device.   The parking space detection device according to claim 2, wherein the distance detection unit is a retrofit distance detection unit mounted on the vehicle after the vehicle is shipped.   The vehicle is parked by the driver's own driving operation for the first time or a plurality of times after the retrofit distance detecting means is mounted on the vehicle, and correction by the correcting means is performed at the time of parking. Item 14. The parking space detection device according to Item 13.   The vehicle is provided with an automatic parking means (11) for automatically parking in the primary detection space, and correction by the correction means is performed during automatic parking by the automatic parking means. The parking space detection device according to.

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