JP2014100958A - Parking support device and control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking support device and a control device that can properly support a parking operation.SOLUTION: The parking support device 1 comprises: a detection device 3 for detecting an object around an own vehicle 2; a support device 6 that is mounted in the own vehicle 2 and can support a parking operation of the own vehicle 2; and a control device 7 that controls the support device 6 on the basis of the detection result by the detection device 3 and can perform a parking support operation of the own vehicle 2. The control device 7 can change a search range of a target parking position for the own vehicle 2 based on the detection result by the detection device 3 on the basis of an area in which the own vehicle is predicted to park. Therefore, the parking support device 1 and the control device 7 can properly support the parking operation.

Description

  The present invention relates to a parking assistance device and a control device.

  As a conventional parking assistance device and control device mounted on a vehicle, for example, Patent Document 1 detects a plurality of parking areas where a vehicle can be parked and corresponds to the detected parking area on a captured image. A parking assist device that displays a graphic image indicating a parking target candidate superimposed on a position is disclosed. This parking assist device can select one of the parking target candidates as a parking target based on an instruction input from the driving device of the vehicle.

JP 2012-001144 A

  By the way, the parking assistance apparatus of the above-mentioned patent document 1 has room for the further improvement in the point of more suitable parking assistance, for example.

  This invention is made | formed in view of said situation, Comprising: It aims at providing the parking assistance apparatus and control apparatus which can perform parking assistance appropriately.

  In order to achieve the above object, a parking support device according to the present invention includes a detection device that detects an object around the host vehicle, and a support device that is mounted on the host vehicle and can support parking of the host vehicle. A control device capable of controlling the support device based on a detection result by the detection device and performing parking support of the host vehicle, and the control device is provided in a region where parking of the host vehicle is predicted. Based on the detection result by the detection device, the search range of the target parking position of the host vehicle is made variable.

  Further, in the parking support device, the control device limits the search range to a region where the parking of the host vehicle is predicted within the detection range of the detection device, and the control range is within the search range. The target parking position of the vehicle can be searched.

  Further, in the parking assist device, the control device searches the target parking position of the host vehicle in the search range in order from an area where the possibility that the host vehicle is parked is relatively high. It can be.

  Moreover, in the parking assistance device, the control device can change the search range based on the state of the host vehicle.

  In the parking assist device, the control device may change the search range based on the traveling direction of the host vehicle and the vehicle speed of the host vehicle.

  Further, in the parking assist device, the control device determines the search range when the vehicle speed of the host vehicle is relatively high compared to a case where the vehicle speed of the host vehicle is relatively low. It can be set on the side further away from the host vehicle along the traveling direction.

  In the parking assist device, the control device may change the search range based on a direction in which a person who gets off the host vehicle is expected to go after the parking of the host vehicle is completed. it can.

  Further, in the parking assist device, the control device makes the search range variable based on a position of an entrance / exit of a facility where the host vehicle is parked, and sequentially searches the search range from an area relatively close to the position of the entrance / exit. As described above, the target parking position of the host vehicle can be searched.

  In the parking assistance device, the detection device may detect an object around the host vehicle using a laser beam.

  In order to achieve the above object, a parking support device according to the present invention includes a detection device that detects an object around the host vehicle, and a support device that is mounted on the host vehicle and can support parking of the host vehicle. A control device capable of controlling the support device based on a detection result by the detection device and executing support for parking the host vehicle, wherein the control device is configured to detect the detection based on a vehicle speed of the host vehicle. The search range of the target parking position of the host vehicle based on the detection result by the apparatus is made variable.

  In order to achieve the above object, the control device according to the present invention provides a target parking position of the host vehicle based on a detection result of objects around the host vehicle based on a region where parking of the host vehicle is predicted. The search range is variable, and control for assisting parking of the host vehicle can be executed based on the target parking position of the host vehicle searched in the search range.

  In order to achieve the above object, the control device according to the present invention varies the search range of the target parking position of the host vehicle based on the detection result of objects around the host vehicle based on the vehicle speed of the host vehicle. And based on the target parking position of the subject vehicle searched within the search range, it is possible to execute control that supports parking of the subject vehicle.

  The parking assistance device and the control device according to the present invention have an effect that parking assistance can be appropriately performed.

FIG. 1 is a schematic configuration diagram of a parking assistance device according to the first embodiment. FIG. 2 is a schematic diagram illustrating setting of a search range in the parking assistance device according to the first embodiment. FIG. 3 is a flowchart for explaining an example of control by the ECU of the parking assistance apparatus according to the first embodiment. FIG. 4 is a schematic diagram for explaining setting of a search range in the parking assistance device according to the second embodiment. FIG. 5 is a flowchart for explaining an example of control by the ECU of the parking assistance apparatus according to the second embodiment.

  Embodiments according to the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

[Embodiment 1]
FIG. 1 is a schematic configuration diagram of a parking assistance device according to the first embodiment. FIG. 2 is a schematic diagram illustrating setting of a search range in the parking assistance device according to the first embodiment. FIG. 3 is a flowchart for explaining an example of control by the ECU of the parking assistance apparatus according to the first embodiment.

  The parking assistance apparatus 1 of this embodiment is mounted in the vehicle 2 as the own vehicle, as shown in FIG. The parking assistance device 1 is a parking assistance system that performs parking assistance for assisting parking of the vehicle 2. Typically, the parking assist device 1 predicts an area where the host vehicle is likely to park in a parking lot where a plurality of parking spaces exist, based on the behavior of the host vehicle, GPS information, map information, and the like. Of the areas that can be searched by the laser sensor, the parking space is searched only for the area that is predicted to be likely to be parked by the host vehicle. The parking assistance device 1 is realized by mounting the components shown in FIG.

  Specifically, as shown in FIG. 1, the parking assistance device 1 includes a laser sensor 3 as a detection device, a host vehicle state detection device 4, a system switch 5, a support device 6, and an ECU 7 as a control device. With.

  The laser sensor 3 detects an object around the vehicle 2. As the laser sensor 3 of this embodiment, for example, a wide-angle laser radar using laser light can be used. The laser sensor 3 detects an object around the vehicle 2 using laser light. The laser sensor 3 irradiates a predetermined range from the irradiation unit with laser light, scans the surroundings of the vehicle 2, and receives the reflected light from the object of the laser light with the light receiving unit, thereby detecting the objects around the vehicle 2. To detect. The laser sensor 3 can detect the position of the object, the distance to the object, the shape of the object, and the like by receiving the reflected light reflected by the object existing in the area scanned by the laser light with the light receiving unit. .

  In addition, although the detection apparatus of this embodiment is demonstrated as what is the laser sensor 3, it is not restricted to this. The detection apparatus of the present embodiment uses, for example, millimeter wave radar, radar using infrared rays, short-range radar such as UWB (Ultra Wide Band) radar, sonar using audible sound waves or ultrasonic waves, and the like. Also good. In addition, the detection device analyzes an object around the vehicle 2 by analyzing image data obtained by imaging the periphery of the vehicle 2 with a peripheral monitoring CCD camera (imaging device) such as a front camera, a back camera, and left and right side cameras. You may use the image recognition apparatus etc. which detect.

  The own vehicle state detection device 4 detects the state of the vehicle (own vehicle) 2 on which the parking assistance device 1 is mounted. The own vehicle state detection device 4 may include, for example, at least one of a vehicle speed sensor 41, a yaw rate sensor 42, a rudder angle sensor 43, an acceleration sensor 44, a GPS receiver 45, a blinker switch 46, and the like. The vehicle speed sensor 41 detects the vehicle speed of the vehicle 2 as vehicle information. The yaw rate sensor 42 detects the yaw rate of the vehicle 2 as vehicle information. The steering angle sensor 43 detects the steering angle of the vehicle 2 as vehicle information. The acceleration sensor 44 detects acceleration generated in the vehicle body of the vehicle 2 as vehicle information. The GPS receiver 45 receives GPS information (latitude and longitude coordinates) of the vehicle 2 as vehicle information. For example, the ECU 7 determines the travel point (current position) of the vehicle 2 based on the GPS information received by the GPS receiver 45 of the vehicle state detection device 4 and map information such as road information stored in the database. The traveling direction can be calculated. The turn signal switch 46 detects, as vehicle information, the presence / absence of a turn signal (turn indicator) operation (turn signal operation) of the vehicle 2 by the driver and the indicated direction.

  The system switch 5 is a switch for turning on / off the parking assistance by the parking assistance device 1 by the operation of the driver. The parking assistance device 1 can arbitrarily switch the parking assistance function on and off according to the driver's intention, for example, according to the driver's switching operation via the system switch 5. The parking assistance device 1 is not limited to this, and may be configured to automatically switch the parking assistance on and off according to the state of the vehicle 2 (for example, vehicle speed, current position, etc.).

  The support device 6 is mounted on the vehicle 2 and can support parking of the vehicle 2. The support device 6 performs parking support. Here, parking assistance is driving assistance for safely parking the vehicle 2 at a target parking position (hereinafter sometimes referred to as “target parking position”). The parking support may include at least one of automatic driving of the vehicle 2 for parking the vehicle 2 at the target parking position, auxiliary driving, provision of parking guidance information, and the like. In other words, the target parking position of the vehicle 2 corresponds to a target parking frame targeted by the vehicle 2.

  The support device 6 can automatically brake the steering device that can automatically steer the steered wheels of the vehicle 2, a power train that includes a driving power source for the vehicle 2 such as an internal combustion engine and an electric motor, and the vehicle 2, for example. You may include at least one, such as a braking device. In this case, the support device 6 performs automatic adjustment of the steering angle of the steered wheels, automatic adjustment of the driving force of the vehicle 2, automatic adjustment of the braking force of the vehicle 2, and the like so that the vehicle 2 is brought to the target parking position by automatic driving. Automatic parking support for parking can be performed. In this case, the support device 6 may be configured to move the vehicle 2 to the target parking position without any intervention by the driver, or after allowing the intervention of the operation by the driver to some extent, The vehicle 2 may be moved to the target parking position so as to assist the vehicle.

  Further, the support device 6 may include, for example, an information providing device that is mounted on the vehicle 2 and provides various information to the driver. That is, the support device 6 may assist the driver in parking operation by outputting the parking guidance information to the driver in order to safely park the vehicle 2 at the target parking position. In this case, the support device 6 provides information providing driving support by providing parking guidance information to the driver. The support device 6 may be configured to include, for example, at least one of a display, a speaker, and the like provided in the vehicle interior of the vehicle 2 as an information providing device. The display is a visual information display device that outputs visual information (graphic information, character information). The speaker is an auditory information (voice) output device that outputs auditory information (voice information, sound information). As the support device 6, an existing device in the passenger compartment of the vehicle 2, for example, a display or a speaker of a navigation system may be used as the information providing device. The support device 6 provides information by outputting visual information, auditory information, etc., and guides the driver's parking driving operation. The support device 6 may be configured to include, for example, a tactile information output device that outputs tactile information such as steering wheel vibration, seat vibration, pedal reaction force, and the like as an information providing device in addition to the display and the speaker. Good.

  The ECU 7 controls driving of each part of the vehicle 2 and includes an electronic circuit mainly composed of a known microcomputer including a CPU, a ROM, a RAM, and an interface. For example, the ECU 7 is electrically connected to various sensors and detectors such as the laser sensor 3, the host vehicle state detection device 4, and the system switch 5 described above, and receives an electrical signal corresponding to the detection result. Moreover, ECU7 is electrically connected to each part of vehicles 2, such as support device 6, and outputs a drive signal to these. The ECU 7 outputs a drive signal to each part of the vehicle 2 by executing a stored control program based on various input signals and various maps input from various sensors, detectors, etc. Control.

  The ECU 7 according to the present embodiment is a control device capable of controlling the support device 6 based on the detection result of the laser sensor 3 and executing the parking support of the vehicle 2. Here, the ECU 7 sets the target parking position based on the detection result by the laser sensor 3. Then, the ECU 7 generates a parking route from the current position of the vehicle 2 to the target parking position, and controls the support device 6 based on this to execute parking assistance such as automatic parking assistance and information providing driving assistance. To do.

  In the following description, the control device of the parking assist device 1 is described as being shared by the ECU 7, but is not limited thereto. The control device of the parking assistance device 1 may be configured separately from the ECU 7 and may exchange information such as a detection signal, a drive signal, and a control command with each other. The ECU 7 also controls a travel control ECU that controls the overall travel of the vehicle 2, a parking support control ECU that performs parking support for the vehicle 2, a steering control ECU that controls the steering device of the vehicle 2, and a power train of the vehicle 2. The drive control ECU, the brake control ECU that controls the braking device of the vehicle 2, and the like may be configured separately to exchange information such as a detection signal, a drive signal, and a control command with each other.

  By the way, as described above, when the parking assistance device 1 performs the parking assistance based on the detection result by the wide-angle laser sensor 3, the detection range by the laser sensor 3 is relatively wide. The range may be too wide. In this case, the parking support device 1 has a relatively large calculation amount, which may take time for the calculation, and may also set the target parking position in a place not intended by the driver.

  Therefore, the parking assistance device 1 predicts an area where the vehicle 2 is highly likely to be parked based on vehicle information, navigation information, and the like, and appropriately limits the search range of the target parking position based on the prediction. In addition, parking assistance for the vehicle 2 can be performed. In the following description, the parking assistance device 1 will be described for the case where the laser sensor 3 is used as the detection device. However, even if the other type of detection device as described above is used, the parking assistance device 1 is similarly appropriate. In addition, parking assistance for the vehicle 2 can be performed.

  Specifically, as shown in FIG. 1, the ECU 7 functionally conceptually includes a search range setting unit 71, a target parking position search unit 72, a target parking position setting unit 73, and a target parking position notification unit 74. The support control unit 75 is included.

  The search range setting unit 71 makes the search range of the target parking position of the vehicle 2 based on the detection result by the laser sensor 3 based on the region where the parking of the vehicle 2 is predicted. Typically, the search range setting unit 71 limits the search range to a region where the parking of the vehicle 2 is predicted in the detection range by the laser sensor 3, and the target of the vehicle 2 is within the search range. Search the parking location. In this case, the search range setting unit 71 may search for the target parking position of the vehicle 2 by setting the search range in order from an area where the possibility that the vehicle 2 is parked is relatively high.

  Here, the search range setting unit 71 predicts a region where parking of the vehicle 2 is predicted based on the state of the vehicle 2, and makes the search range variable based on the predicted region. In other words, the search range setting unit 71 changes the size and position of the search range based on the state of the vehicle 2. The search range setting unit 71 includes, for example, vehicle speed of the vehicle 2, vehicle speed of the vehicle 2, yaw rate of the vehicle 2, steering angle of the vehicle 2, acceleration of the vehicle 2, GPS information (current position) of the vehicle 2, vehicle The search range may be made variable based on at least one of the indication directions of the two blinkers.

  Here, as an example, the search range setting unit 71 makes the search range variable based on the traveling direction of the vehicle 2 and the vehicle speed of the vehicle 2 detected by the vehicle speed sensor 41. Typically, the search range setting unit 71 sets the search range of the vehicle 2 when the vehicle speed of the vehicle 2 that is the host vehicle is relatively high compared to when the vehicle speed of the vehicle 2 is relatively low. It is set on the side further away from the vehicle 2 along the traveling direction.

  The search range setting part 71 here changes a search range according to the vehicle speed, acceleration, etc. of the vehicle 2 so that it may illustrate in FIG. For example, the search range setting unit 71 sets the search range as follows when the vehicle 2 is traveling forward. That is, the search range setting unit 71 is configured to search the front side search area when the vehicle 2 is accelerated and the vehicle speed of the vehicle 2 is increased, or when the vehicle 2 is traveling at a constant speed with a relatively high vehicle speed. TA is set as the search range of the target parking position. The front search area TA is an area on a side farther from the vehicle 2 along the traveling direction of the vehicle 2. The size of the forward search area TA may be arbitrarily set in advance based on the calculation load in the ECU 7 and the like. In this case, the search range setting unit 71 can predict that the driver is looking for the target parking position at a position slightly ahead of the current position, and may park on the side further away from the vehicle 2 along the traveling direction. Therefore, the forward search area TA is set as the search range for the target parking position.

  On the other hand, the search range setting unit 71 is configured such that the vehicle 2 stops and the vehicle speed of the vehicle 2 becomes 0, the vehicle 2 decelerates and the vehicle speed of the vehicle 2 decreases, or the vehicle speed of the vehicle 2 is relatively low. When the vehicle is traveling at a constant speed in the state, the vicinity search area TB is set as a search range for the target parking position. This neighborhood search region TB is a region closer to the vehicle 2 with respect to the traveling direction of the vehicle 2. The size of the neighborhood search area TB may be arbitrarily set in advance based on the calculation load in the ECU 7 and the like. In this case, the search range setting unit 71 can predict that the driver is looking for the target parking position in the vicinity of the current position, and is likely to be parked closer to the vehicle 2 with respect to the traveling direction. Since it can be predicted, the vicinity search area TB is set as a search range for the target parking position.

  Further, the search range setting unit 71 sets the rear search area TC as the search range for the target parking position when the vehicle 2 is traveling backward. The rear search area TC is an area on the rear side of the vehicle 2. The size of the rear search area TC may be arbitrarily set in advance based on the calculation load in the ECU 7 and the like. In this case, the search range setting unit 71 can predict that the driver is looking for the target parking position on the rear side of the vehicle 2 and can predict that the driver is likely to park on the rear side of the vehicle 2. The rear side search area TC is set as a search range for the target parking position.

  As described above, the search range setting unit 71 limits the search range to a region in which the parking of the vehicle 2 is predicted according to the state of the vehicle 2, here the vehicle speed, etc., in the detection range ST by the laser sensor 3. And set. That is, the search range setting unit 71 limits the search range to the front search area TA when the vehicle 2 is traveling at a high constant speed or during acceleration. The search range setting unit 71 limits the search range to the neighborhood search region TB when the vehicle 2 travels at a low constant speed, travels at a reduced speed, and stops. The search range setting unit 71 limits the search range to the rear search region TC when the vehicle 2 moves backward.

  The target parking position search unit 72 searches for the target parking position based on the detection result detected by the laser sensor 3 within the search range set by the search range setting unit 71. The target parking position search unit 72 searches for the target parking position of the vehicle 2 within the search range set by the search range setting unit 71 in the detection range ST by the laser sensor 3. That is, the target parking position search unit 72 searches the target parking position of the vehicle 2 while limiting the search range to the front side search area TA when the vehicle 2 is traveling at a high constant speed or during acceleration. The target parking position search unit 72 searches for the target parking position of the vehicle 2 by limiting the search range to the vicinity search area TB when the vehicle 2 is traveling at a low constant speed, during deceleration, and when the vehicle is stopped. The target parking position search unit 72 searches the target parking position of the vehicle 2 by limiting the search range to the rear side search area TC when the vehicle 2 moves backward.

  The target parking position search unit 72 stores the position, distance, shape, and object 2 of the object detected by the laser sensor 3 within the search range set by the search range setting unit 71 as described above. The target parking position is searched based on the vehicle grade and the like. The target parking position search unit 72 searches for a vacant space (see a dotted frame in FIG. 2) in which the vehicle 2 with the stored vehicle case can be parked within the set search range. And the target parking position search part 72 detects the said empty space as a parking space used as the candidate of a target parking position, when the empty space which can park the vehicle 2 is detected.

  In addition, the search range setting part 71 searches in the search range set as mentioned above, when the parking space cannot be detected even if the target parking position search part 72 searches for a predetermined time set in advance. What is necessary is just to reset a range sequentially to the area | region where it is estimated that possibility of parking next is high. For example, the search range setting unit 71 sets the search range in the neighborhood search region TB when the vehicle 2 is traveling at a low constant speed or the like, but if no parking space is found in the neighborhood search region TB, It is set in the forward search area TA that is predicted to be highly likely to be parked. And the target parking position search part 72 continues the search of the parking space used as a target parking position by making the front side search area TA into a search range. Thereby, the search range setting unit 71 sets the search range in order from the region where the possibility that the vehicle 2 is parked is relatively high, and the target parking position search unit 72 includes the vehicle 2 within the search range. A parking space serving as a target parking position can be searched.

  The target parking position setting unit 73 sets a target parking position. The target parking position setting unit 73 sets the parking space detected by the target parking position searching unit 72 within the search range set by the search range setting unit 71 as the target parking position of the vehicle 2. When the target parking position searching unit 72 detects a plurality of parking spaces, for example, the target parking position setting unit 73 may set the first detected parking space as the target parking position, or drive via the input device. A parking space arbitrarily selected by the person may be set as the target parking position.

  The target parking position notification unit 74 generates information for notifying the target parking position. The target parking position notification unit 74 generates information related to the target parking position of the vehicle 2 that is provided in order to provide information providing driving support by the information providing apparatus or the like that constitutes the support apparatus 6. The target parking position notification unit 74 generates information regarding the target parking position based on the parking space detected by the target parking position search unit 72 within the search range set by the search range setting unit 71.

  The support control unit 75 causes the support device 6 to actually perform parking support. The support control unit 75 outputs a control signal to the support device 6 based on the target parking position set by the target parking position setting unit 73, information on the target parking position generated by the target parking position notification unit 74, and the like. The support device 6 is allowed to perform parking support. The support control unit 75 generates a parking route from the current position of the vehicle 2 to the target parking position, and controls the support device 6 based on this, and performs parking support such as automatic parking support and information providing driving support. To do.

  Next, an example of control by the ECU 7 will be described with reference to the flowchart of FIG.

  First, the search range setting unit 71 of the ECU 7 determines whether or not the driver intends to start parking assistance by determining whether or not the system switch 5 is on (step ST1). The search range setting unit 71 determines, for example, whether the vehicle 2 is located in the parking lot and the vehicle speed is equal to or lower than a preset support start vehicle speed, or the vehicle 2 is adjacent to the parking space. It may be determined whether or not the driver intends to start parking assistance by determining whether or not the vehicle is temporarily stopped at the position.

  The search range setting unit 71 repeats the process of step ST1 when it is determined in step ST1 that the system switch 5 is off, that is, the driver does not intend to start parking assistance (step ST1: No). Run.

  When it is determined that the system switch 5 is ON in step ST1, that is, the driver has an intention to start parking assistance (step ST1: Yes), the search range setting unit 71 starts from the vehicle state detection device 4. The vehicle information of the vehicle 2 is acquired (step ST2).

  Next, the search range setting unit 71 determines whether or not the vehicle 2 is moving backward based on the vehicle information of the vehicle 2 acquired in step ST2 (step ST3).

  When the search range setting unit 71 determines that the vehicle 2 is moving backward in step ST3 (step ST3: Yes), the search target space (for example, refer to the rear search region TC in FIG. 2) is set as the search range. To do. And the target parking position search part 72 searches the parking space used as a target parking position within the set search range (step ST4).

  And the target parking position setting part 73 determines whether the target parking position search part 72 detected the parking space (step ST5).

  When it is determined by the target parking position setting unit 73 that the target parking position searching unit 72 has not detected the parking space in step ST5 (step ST5: No), the ECU 7 shifts the process to step ST2, and thereafter Repeat the process.

  When the target parking position setting unit 73 determines in step ST5 that the target parking position searching unit 72 has detected the parking space (step ST5: Yes), the target parking position searching unit 72 uses the parking space detected by the target parking position searching unit 72 as the vehicle 2. While setting it as a target parking position, the target parking position alerting | reporting part 74 produces | generates the information for alert | reporting a target parking position (step ST6).

  Next, the support control unit 75 of the ECU 7 is based on the target parking position set by the target parking position setting unit 73 in step ST6, information for reporting the target parking position generated by the target parking position reporting unit 74, and the like. Then, the support device 6 is controlled to provide parking support (step ST7), the current control cycle is terminated, and the next control cycle is started.

  When the search range setting unit 71 determines in step ST3 that the vehicle 2 has not moved backward (step ST3: No), the vehicle 2 is in a constant speed traveling state, a stopped state, or a deceleration at a relatively low vehicle speed. It is determined whether or not the vehicle is in one of the traveling states (constant speed (low speed to stop) or deceleration) (step ST8).

  When the search range setting unit 71 determines in step ST8 that the vehicle 2 is in a constant speed traveling state, a stopped state, or a decelerating traveling state at a relatively low vehicle speed (step ST8: Yes). ), The target space immediately adjacent to the vehicle 2 (see, for example, the neighborhood search area TB in FIG. 2) is set as the search range. And the target parking position search part 72 searches the parking space used as a target parking position within the set search range (step ST9), and transfers a process to step ST5.

  When the search range setting unit 71 determines in step ST8 that the vehicle 2 is not in a constant speed traveling state, a stopped state, or a decelerating traveling state at a relatively low vehicle speed (step ST8: No). That is, when it is determined that the vehicle 2 is in a constant speed traveling state at a relatively high vehicle speed or an accelerated traveling state, the following processing is executed. That is, the search range setting unit 71 sets the target space in front of the vehicle 2 (for example, see the front search area TA in FIG. 2) as the search range. And the target parking position search part 72 searches the parking space used as a target parking position within the set search range (step ST10), and transfers a process to step ST5.

  The parking assist device 1 configured as described above changes the search range of the target parking position of the vehicle 2 based on the detection result by the laser sensor 3 based on the region where the parking of the vehicle 2 is predicted. Here, the parking assist device 1 searches the target parking position of the vehicle 2 within the search range by limiting the search range to a region where the parking of the vehicle is predicted within the detection range of the laser sensor 3. To do. Thereby, even if it is a case where the laser sensor 3 with a comparatively wide detection range is used, the parking assistance apparatus 1 is unnecessary compared with the case where all the detection ranges by the laser sensor 3 are made into a search range, for example. Since it is not necessary to search for the area, the amount of calculation when setting the target parking position can be relatively suppressed. As a result, the parking assistance device 1 can reduce the calculation time. Furthermore, the parking assistance apparatus 1 can also suppress that the target parking position is set in an area that is not intended by the driver. Therefore, the parking assistance apparatus 1 can appropriately perform parking assistance for the vehicle 2.

  At this time, the parking assistance device 1 simply detects the driver's intention based on vehicle information relating to the state of the vehicle 2, here, the vehicle speed of the vehicle 2, and predicts a region where parking of the vehicle 2 is predicted. Thus, the search range for the target parking position can be set. Thereby, the parking assistance apparatus 1 can set a target parking position in the vicinity of the area | region which a driver | operator intends more appropriately, and can perform parking assistance. And since the parking assistance apparatus 1 makes it a search range in an order from the area | region where it is estimated that the possibility that the vehicle 2 will park relatively is high, and seeks the target parking position of the vehicle 2, it aims at shortening of calculation time. On the other hand, the target parking position can be searched in order from the region that is more in line with the driver's intention.

  According to the parking support apparatus 1 according to the embodiment described above, the laser sensor 3 that detects an object around the host vehicle, and the support apparatus 6 that is mounted on the host vehicle and can support parking of the host vehicle. And an ECU 7 that controls the support device 6 based on the detection result of the laser sensor 3 and can support parking of the host vehicle. And ECU7 makes variable the search range of the target parking position of the own vehicle based on the detection result by the laser sensor 3 based on the area | region where the parking of the own vehicle is estimated. Furthermore, according to the ECU 7, the search range of the target parking position of the host vehicle based on the detection result of the objects around the host vehicle is made variable based on the region where the host vehicle is predicted to be parked. Based on the target parking position of the subject vehicle searched within the search range, control for assisting parking of the subject vehicle can be executed. Here, the ECU 7 predicts a region where parking of the host vehicle is predicted based on the vehicle speed of the host vehicle, and makes the search range of the target parking position variable. Therefore, the parking assist device 1 and the ECU 7 can shorten the calculation time and can prevent the target parking position from being set in an area that is not intended by the driver. Parking assistance can be performed.

  In the above description, the search range setting unit 71 is described as being able to change the search range of the target parking position into three areas, the front search area TA, the vicinity search area TB, and the rear search area TC. However, the present invention is not limited to this, and the number may be changed to four or more, or may be changed to two.

  In the above description, the search range setting unit 71 is described as changing the search range based on the traveling direction of the vehicle 2 and the vehicle speed of the vehicle 2, but is not limited thereto. For example, the search range setting unit 71 changes the yaw rate of the vehicle 2, the steering angle of the vehicle 2, the acceleration of the vehicle 2, the GPS information of the vehicle 2 (current position) as vehicle information related to the state of the vehicle 2 instead of the vehicle speed of the vehicle 2 ), The search range may be made variable based on at least one of the directions of the turn signal of the vehicle 2 and the like. For example, if the search range setting unit 71 detects the intention of turning the driver's car to the left based on the direction of the turn signal of the vehicle 2, the rudder angle of the vehicle 2, or the like, It is also possible to predict and set the area on the left side of the vehicle 2 as the search range.

[Embodiment 2]
FIG. 4 is a schematic diagram for explaining setting of a search range in the parking assistance device according to the second embodiment. FIG. 5 is a flowchart for explaining an example of control by the ECU of the parking assistance apparatus according to the second embodiment. The parking assist device and the control device according to the second embodiment are partly different from the first embodiment in the search range setting method. In addition, about the structure, operation | movement, and effect which are common in embodiment mentioned above, the overlapping description is abbreviate | omitted as much as possible. Moreover, FIG. 1 etc. are referred suitably for each structure of the parking assistance apparatus which concerns on Embodiment 2, and a control apparatus.

  The ECU 7 of the parking assist device 201 (see FIG. 1) according to the present embodiment varies the search range based on the direction in which the person who gets off the vehicle 2 is expected to go after the parking of the vehicle 2 that is the host vehicle. And For example, as illustrated in FIG. 4, the search range setting unit 71 of the ECU 7 of the present embodiment gets off the vehicle 2 after the parking of the vehicle 2 is completed based on the position of the entrance 50 of the facility where the vehicle 2 is parked. The direction in which the person faces is predicted, and the search range is made variable based on the predicted direction. In other words, the search range setting unit 71 changes the size and position of the search range based on the position of the entrance 50.

  Specifically, the search range setting unit 71 includes, as vehicle information related to the state of the vehicle 2, GPS information (current position) of the vehicle 2 received by the GPS receiver 45, and map information such as road information stored in the database. The positional relationship between the vehicle 2 and the entrance / exit 50 of the facility is grasped based on the parking lot map of the facility obtained from the facility. And the search range setting part 71 makes the target parking position search part 72 search the target parking position of the said vehicle 2 in the said search range as a search range in an order from the area relatively close to the position of the entrance / exit 50.

  As an example, in the example of FIG. 4, the search range setting unit 71 first has an area close to the entrance / exit 50 of the facility where a person who gets off the vehicle 2 is likely to go after the parking of the vehicle 2 is completed. The front side search area TA in front of is set as the search range of the target parking position. The search range setting unit 71 is a target parking position candidate even if the target parking position search unit 72 searches for a predetermined time within the forward search area TA which is the search range set as described above. If the space cannot be detected, an area adjacent to the forward search area TA, here, the vicinity search area TB in the vicinity of the vehicle 2 is set as the search range of the target parking position. Similarly, the search range setting unit 71 can detect a parking space that is a candidate for the target parking position even if the target parking position search unit 72 searches for a predetermined time set in advance in the vicinity search region TB that is the search range. If not, the area adjacent to the vicinity search area TB, here the rear search area TC behind the vehicle 2, is set as the search range for the target parking position. In this way, the search range setting unit 71 sequentially sets the search range from an area relatively close to the position of the entrance 50.

  Next, an example of control by the ECU 7 will be described with reference to the flowchart of FIG. Again, the description overlapping with FIG. 3 is omitted as much as possible.

  When it is determined that the system switch 5 is ON in step ST1, that is, the driver has an intention to start parking assistance (step ST1: Yes), the search range setting unit 71 starts from the vehicle state detection device 4. The vehicle information of the vehicle 2 is acquired (step ST2).

  Next, based on the vehicle information of the vehicle 2 acquired in step ST2, the search range setting unit 71 is a target space in the vicinity of the entrance / exit 50 of the facility where the vehicle 2 is parked (see, for example, the front search area TA in FIG. 4). ) As a search range. And the target parking position search part 72 searches the parking space used as a target parking position within the set search range (step ST201).

  And the target parking position setting part 73 determines whether the target parking position search part 72 detected the parking space (step ST202).

  When the target parking position setting unit 73 determines in step ST202 that the target parking position searching unit 72 has detected the parking space (step ST202: Yes), the target parking position searching unit 72 uses the parking space detected by the target parking position searching unit 72 as the vehicle 2. While setting to the target parking position, the target parking position notifying unit 74 generates information for notifying the target parking position (step ST6), and shifts the processing to step ST7.

  When the target parking position setting unit 73 determines in step ST202 that the target parking position searching unit 72 has not detected the parking space (step ST202: No), the search range setting unit 71 searches currently set. It is determined whether there is a target space adjacent to the range (see, for example, the neighborhood search area TB in FIG. 4) (step ST203).

  When it is determined in step ST203 that there is a target space adjacent to the currently set search range (step ST203: Yes), the search range setting unit 71 sets a target space adjacent to the currently set search range ( For example, the neighborhood search region TB in FIG. 4) is set as a new search range. And the target parking position search part 72 searches the parking space used as a target parking position within the newly set search range (step ST204), and transfers a process to step ST202.

  When it is determined in step ST203 that there is no target space adjacent to the currently set search range (step ST203: No), the search range setting unit 71 ends the current control cycle and shifts to the next control cycle. To do. In this case, the ECU 7 may shift to the control described in FIG.

  The parking assist device 201 and the ECU 7 according to the embodiment described above change the search range of the target parking position of the vehicle 2 based on the detection result by the laser sensor 3 based on the region where the parking of the vehicle 2 is predicted. . As a result, the parking assist device 201 and the ECU 7 can shorten the calculation time and can prevent the target parking position from being set in an area that is not intended by the driver. Parking assistance.

  Furthermore, according to the parking assistance apparatus 201 according to the embodiment described above, the ECU 7 can change the search range based on the direction in which the person who gets off the vehicle 2 is expected to go after the parking of the vehicle 2 is completed. To do. Here, the ECU 7 makes the search range variable based on the position of the entrance / exit 50 of the facility where the vehicle 2 is parked, and sets the search range in order from the region relatively close to the position of the entrance / exit 50, and sets the target range of the vehicle 2. Search the parking location. Therefore, the parking assist device 201 and the ECU 7 simply predict the area where the driver wants to park after shortening the calculation time, and set the search range of the target parking position accordingly. Can do. As a result, the parking assistance device 201 and the ECU 7 can set the target parking position in the vicinity of the area desired by the driver more appropriately and perform parking assistance.

  In addition, the parking assistance apparatus and control apparatus which concern on embodiment of this invention mentioned above are not limited to embodiment mentioned above, A various change is possible in the range described in the claim.

  For example, the ECU 7 described above may further change the search range based on the time zone, for example, the business hours of the facility where the vehicle 2 that is the host vehicle is parked.

1,201 Parking assistance device 2 Vehicle (own vehicle)
3 Laser sensor (detection device)
4 Self-vehicle state detection device 5 System switch 6 Support device 7 ECU (control device)
41 vehicle speed sensor 42 yaw rate sensor 43 rudder angle sensor 44 acceleration sensor 45 receiver 46 turn signal switch 50 doorway 71 search range setting unit 72 target parking position search unit 73 target parking position setting unit 74 target parking position notification unit 75 support control unit

Claims (12)

A detection device for detecting objects around the host vehicle;
A support device mounted on the host vehicle and capable of supporting parking of the host vehicle;
A control device capable of controlling the support device based on a detection result by the detection device and executing support for parking of the host vehicle;
The control device may vary a search range of a target parking position of the host vehicle based on a detection result by the detection device based on a region where parking of the host vehicle is predicted.
Parking assistance device. The control device searches the target parking position of the host vehicle within the search range by limiting the search range to a region where the host vehicle is predicted to be parked in the detection range of the detection device. To
The parking assistance device according to claim 1. The control device searches the target parking position of the host vehicle in the search range in order from an area where the possibility that the host vehicle is parked is relatively high.
The parking assistance device according to claim 1 or 2. The control device makes the search range variable based on a state of the host vehicle.
The parking assistance device according to any one of claims 1 to 3. The control device makes the search range variable based on the traveling direction of the host vehicle and the vehicle speed of the host vehicle.
The parking assistance device according to any one of claims 1 to 4. When the vehicle speed of the host vehicle is relatively high, the control device sets the search range along the traveling direction of the host vehicle as compared to a case where the vehicle speed of the host vehicle is relatively low. Set it on the side farther away from the vehicle,
The parking assistance device according to claim 5. The control device makes the search range variable based on a direction in which a person who gets off the host vehicle is expected to go after the parking of the host vehicle is completed.
The parking assistance device according to any one of claims 1 to 6. The control device makes the search range variable based on the position of the entrance / exit of the facility where the host vehicle is parked, and sets the search range in order from the region relatively close to the position of the entrance / exit as the target range of the host vehicle. Explore the parking location,
The parking assistance device according to any one of claims 1 to 7. The detection device detects an object around the host vehicle using a laser beam;
The parking assistance device according to any one of claims 1 to 8. A detection device for detecting objects around the host vehicle;
A support device mounted on the host vehicle and capable of supporting parking of the host vehicle;
A control device capable of controlling the support device based on a detection result by the detection device and executing support for parking of the host vehicle;
The control device may vary a search range of a target parking position of the host vehicle based on a detection result by the detection device based on a vehicle speed of the host vehicle.
Parking assistance device. Based on the region where the parking of the host vehicle is predicted, the search range of the target parking position of the host vehicle based on the detection result of objects around the host vehicle is made variable, and the host vehicle searched within the search range Based on the target parking position of the vehicle, it is possible to execute control that supports parking of the host vehicle,
Control device. Based on the vehicle speed of the host vehicle, the search range of the target parking position of the host vehicle based on the detection result of objects around the host vehicle is variable, and the target parking of the host vehicle searched within the search range is made Based on the position, it is possible to execute control that supports parking of the host vehicle,
Control device.

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