JP2014151781A - Parking support system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking support system devised to simplify a series of operations by a driver related to parking using a parking support device, reducing occurrence of a missed operation.SOLUTION: A parking support system 1 includes: backing support devices 6, 7, 8 in which a backing support function is switched to a support state in association of a shift position of a vehicle 2 being changed to "R"; and a parking notification output part 52 for externally notifying of parking of the vehicle 2. Further, a control part 10 performs: obtaining parking start intention information used for determining whether a driver has an intention to start parking; identifying presence of the intention to start parking; holding the parking notification output part 52 in a notification state, holding the backing support function of the backing support devices 6, 7, 8 in a support state, and maintaining the holding state even when the shift position is changed from "R" to other positions, if determined that the driver has the intention.

Description

  The present invention relates to a parking assistance system.

  When parking in a parking lot such as a shopping mall or a convenience store, the driver parks the vehicle in an empty parking space. In recent years, development of a support device that supports such parking has been progressing (Patent Document 1).

  On the other hand, when parking, the driver often moves the vehicle backward. In that case, first, the hazard blinks to convey the intention of parking to the vicinity of the vehicle including the following vehicle, and the shift position is set to “R” to make the back. When parking is complete, turn off the hazard and turn off the engine. In recent years, there have already been devices and systems that support the backward movement of such vehicles. For example, there is a reverse assistance device that displays an image of a rear view camera that captures the rear of the vehicle on a display for a car navigation device by setting the shift position to “R” for backward movement.

Japanese Patent No. 3888414

  However, with the rear view support device using the rear view camera as described above, the video of the rear view camera can be displayed by setting the shift position to “R”, but the support state is canceled when the shift position returns to “D”. It will return to the original screen (map screen, audio screen, etc.). This switching is desirable for a user who wants to drive the vehicle, but is not desirable for a user who wants to continue parking. In particular, there is an opinion that if the user is not good at parking, it is easier to park if the video of the rear view camera is always displayed during parking.

  In this case, it may be possible to fix the video of the rear view camera so as not to be switched by a change in the shift position by a user operation. However, when such a configuration is adopted, when the vehicle is parked, first, the hazard blinks, the rear view camera image is fixed, and then the parking operation is performed such that the shift position is set to “R” and the vehicle is backed. When parking is completed, a series of operations such as turning off the hazard blink, releasing the fixation of the rear view camera image, and turning off the engine are necessary, which is very troublesome. In particular, regarding the operation for turning off the blinking of the hazard, the operation is easily forgotten even in the current configuration. Therefore, further complicating the operation may lead to a higher possibility of being forgotten.

  The subject of this invention is providing the parking assistance system which makes a series of operation simpler about parking using the parking assistance apparatus by a driver | operator, and does not produce operation forget easily.

Means for Solving the Problems and Effects of the Invention

In order to solve the above problems, the vehicle door opening and closing system of the present invention is
A parking assistance system comprising a backward assistance device in which the backward assistance function is switched to a support state as the vehicle is switched to a backward-movable state, and a parking notification output unit that notifies the vehicle parking outside the vehicle,
Start intention information acquisition means for acquiring predetermined parking start intention information for determining the presence or absence of the driver's intention to start parking;
Based on the acquired parking start intention information, the start intention specifying means for specifying whether or not the driver has a parking start intention,
When it is specified that the driver intends to start parking, the parking notification output unit is maintained in the notification state, and the reverse support function of the reverse support device is started in the support state. Support start control means for continuing the parking support holding state even if the possible state is switched to the forward possible state or the forward / backward impossible state,
It is characterized by providing.

  According to the configuration of the present invention, when the driver's intention to start parking is specified, the parking notification output unit such as a hazard lamp is in a notification state such as blinking, and the backward support function such as a rear view camera is a video display or the like. Since it is switched to the support state at the same time, multiple kinds of troublesome operations become unnecessary. Furthermore, the state of switching at the same time is such that the vehicle can move backward (the shift position is “R”) and the other states (the shift positions are “D”, “1”, “2”, “P”, “ N ”or the like), the image is continuously held, so that the image of the rear view camera cannot be seen as the vehicle is switched to the forward-movable state as in the prior art.

The vehicle door opening and closing system of the present invention is
End intention information acquisition means for acquiring predetermined parking end intention information for determining the presence or absence of the driver's intention to end parking;
Based on the acquired parking end intention information, the end intention specifying means for specifying whether or not the driver has a parking end intention,
While holding the parking notification output unit in the notification state and starting the parking support holding state in which the reverse support function of the reverse support device is held in the support state, the parking support holding is performed even if the reverse drive state is switched to the forward drive enabled state. Support start control means for continuing the state;
In the parking support holding state, when it is specified that the driver intends to end the parking, the notification state of the parking notification output unit is ended, and the reverse support function of the reverse support device is ended, and the parking support holding is performed. Support termination control means for terminating the state;
Can be configured.

  According to the configuration of the present invention, when the driver's intention to finish parking is specified, a notification state such as blinking in a parking notification output unit such as a hazard lamp, and further, a video display in a backward support function such as a rear view camera Both of the support states such as are completed. As a result, the function used at the time of parking is not forgotten.

The block diagram which shows simply the structure of the parking assistance system which is one Embodiment of this invention. The figure which shows the vehicle interior of the vehicle carrying the parking assistance system of FIG. The figure explaining the backward assistance function of the parking assistance system of FIG. The figure which shows the picked-up image of a rear view camera. The perspective view of a side mirror. FIG. 6 is a diagram for explaining a backward support state of the side mirror of FIG. 5. The figure explaining the flow of reverse assistance control. The flowchart explaining the flow of a parking mode setting / cancellation process. The flowchart explaining the flow of the manual setting process of parking mode. The flowchart explaining the flow of the manual cancellation | release process of parking mode. The flowchart which shows the flow of the parking assistance system parking assistance control of FIG. The figure which shows an example of parking preparation system parking preparation operation of FIG. The figure which shows an example of parking end system parking end operation of FIG.

  Hereinafter, an embodiment of a parking assistance system of the present invention will be described with reference to the drawings.

  As shown in FIG. 1, the parking assistance system 1 according to the present embodiment includes a backward assistance device 6, 7, 8, in which the backward assistance function is switched to the assistance state as the vehicle 2 is switched from the advanceable state to the reverseable state. Information for acquiring the parking notification output unit 52 for reporting the parking of the vehicle 2 to the outside of the vehicle and the predetermined parking start intention information or the parking end intention information for determining whether or not the driver intends to start or stop the parking. An acquisition unit (start intention information acquisition unit, end intention information acquisition unit) 11, 21, 31, 41, 51, 91 and a control unit 10 constituting the main control unit of the system 1 are provided.

  The information acquisition unit 11 is a mode setting operation unit, and is provided in the vehicle interior so that it can be operated at least by the driver. Here, as shown in FIG. 2, the switches 11E, 11S, and 11P are provided on the door handle. Each switch 11E, 11S, and 11P is an operation part which sets each driving mode of the vehicle 2, and all are switching operation parts which switch ON / OFF. That is, when any one of the switches 11E, 11S, and 11P is turned on, all the remaining switches are turned off, and the travel mode corresponding to the switch that is turned on is set. When the switch 11E is turned on, the control unit 10 sets the traveling mode of the vehicle 2 to a well-known eco mode (economy mode) that realizes traveling with emphasis on fuel consumption by suppressing the engine speed lower than the standard mode. When set and turned off, the eco mode is canceled. When the switch 11S is turned on, the control unit 10 sets a well-known sports mode (power mode) that maintains the engine speed higher than that of the standard mode. When the switch 11S is turned off, the controller 10 cancels the sports mode. . When the switch 11P is turned on, the control unit 10 sets a parking mode (described later) that holds the parking support function in the support continuation state and holds the parking notification output unit 51 in the notification continuation state, and is turned off. If so, cancel the eco-mode.

  The information acquisition unit 21 is a shift position sensor that detects a driver operation (in this case, a shift operation) that switches the vehicle 2 between a backward-travelable state, a forward-travelable state, and a forward-backward-disabled state. This is an operation detection unit that detects an operation on the shift lever 2A. The information acquisition unit 21 is connected to the ECU 20 that controls transmission control.

  Here, the state in which the vehicle 2 can move forward is a state in which the vehicle 2 can move forward by the driving force of the traveling source of the vehicle 2, that is, a state in which the vehicle 2 moves forward by an accelerator operation. The shift operation unit (shift lever in this case) 2A for changing the gear of the transmission is a gear (transmission gear) of the transmission such as the drive position “D”, other first speed “1”, second speed “2”,. Is in the state of being operated to the position to put the in the forward gear. In addition, the vehicle 2 can be moved backward is a state where the vehicle 2 can be moved backward by the driving force of the traveling source of the vehicle 2, that is, a state where the vehicle 2 is moved backward by an accelerator operation. Is a state in which the gear (transmission gear) of the transmission is operated to the reverse position “R” for putting it in the reverse gear. The state in which the vehicle 2 cannot move forward and backward is a state in which the vehicle 2 cannot move forward and backward by the driving force of the traveling source of the vehicle 2, that is, a state in which the vehicle 2 cannot move forward and backward by an accelerator operation. The operation unit 2A is in a state of being operated to the neutral position “N” or the parking position “P”.

  The information acquisition unit 31 is an ignition switch (IG switch), and is an operation detection unit that detects an operation for switching ON / OFF of the accessory power source and the ignition power source of the vehicle 2 and an operation for switching start / stop of the engine of the vehicle 2. . The information acquisition unit 31 is connected to the ECU 30 that controls the engine.

  The information acquisition unit 41 is a vehicle speed sensor, and is a detection unit that detects the vehicle speed of the vehicle. The information acquisition unit 21 is connected to an ECU 40 that controls meter display control.

  The information acquisition unit 51 is an operation detection unit (hazard switch) 51 that detects an operation for driving the emergency blinking indicator lamp (hazard lamp) 52 that is a parking notification output unit to blink. The information acquisition unit 51 is connected to the ECU 50 that controls the body system. The ECU 50 drives the emergency blinking indicator lamp 52 to blink when the operation detection unit 51 is turned on, and turns off the operation detection unit 51. When an operation is performed, the blinking drive of the emergency blinking indicator light 52 is stopped and turned off.

  The information acquisition unit 91 is a position detector (current position detection unit) having a GPS receiver or the like, a known geomagnetic sensor, a gyroscope that detects the rotational angular velocity of the vehicle 2, and a distance that detects the travel distance of the vehicle 2. It is a well-known one having a sensor and a GPS receiver that detects the position of the vehicle 2 based on radio waves from the satellite. The information acquisition unit 91 is connected to the control unit 90 of the car navigation device 9.

  The car navigation device 9 is a device that provides route guidance to a destination set by the user when the control unit 90 executes a navigation program stored in the storage device 95. The route guidance is performed by display on a display device (display unit) 92 shown in FIG. 2 or by sound output from a sound output device (sound output unit) 93 such as a speaker. The display device 92 is a screen display unit as shown in FIG. 2 capable of drawing an arbitrary image in the screen 920, and the vehicle 2 presently detected by the position detection unit 91 on the map image stored in the storage device 54. The position and the guide route set by the user operation on the operation input device (operation detection unit) 94 can be displayed as an image. The operation input device 94 includes a mechanical switch around the screen 920, a touch panel on the screen 920, a remote operation input unit provided in another part of the vehicle or in the vehicle interior, a voice input unit, and the like.

  The rear assistance device 6 includes a rear view camera (outside vehicle rear photographing unit) 61 that photographs a predetermined photographing range 61A behind the vehicle, a display device 92 that displays a photographed image 920A (see FIG. 4), and photographing thereof. And a control unit 60 that performs control and display control. As illustrated in FIG. 7, the control unit 60 obtains shift position information from the control unit 20 (S1), and when the shift position becomes “R” (S2: Yes), shooting data input from the camera 61 is acquired. At the same time, a display switching command for switching the screen display of the predetermined display device 92 to a video based on the shooting data (the shooting video 920A of the camera 61) is output (S3). Here, when the control unit 90 receives the display switching command, the control unit 90 switches the display screen of the display device 92 to the captured video 920 </ b> A of the camera 61. The control unit 60 acquires detection information (steering wheel steering angle) of an angle detection unit (not shown) of the steering wheel (steering wheel) 3 and specifies the vehicle traveling direction based on the detection information. Auxiliary display such as displaying the vehicle traveling direction superimposed on the switched photographic image 920A may be performed at the same time. On the other hand, when the shift position is a position different from “R” (S2: No), the control unit 60 outputs a display end command for ending the screen display on the display device 92 of the captured video of the camera 61 ( S4). When receiving the display end command, the control unit 90 returns the screen display to the screen 920B (navigation screen, operation screen of other devices, etc.) immediately before switching.

  Here, the operation input device 94 can be a backward assistance function execution operation unit that accepts an operation for displaying an image of the camera 61 on the display device 92. When the control unit 90 accepts the operation, the control unit 90 outputs a control command corresponding to the operation to the control unit 60, receives the shooting data of the camera 61 from the control unit 60 that has received the control command, and converts the received shooting data into the received shooting data. Based on this, the image of the camera 61 is displayed on the display device 92.

  The rear assistance device 7 includes a notification output unit 93 that outputs a warning sound to a driver in the vehicle, and sonars (obstacle detection units) 71 and 72 that detect an obstacle in a predetermined detection area 7A on the rear side outside the vehicle. And a control unit 70 that controls the obstacle detection control and the warning notification control. Here, a sonar 71 provided at a corner portion of the rear bumper 2B of the vehicle 2 and a plurality of sonars 72 provided at a central portion are provided. As shown in FIG. 7, the control unit 70 acquires shift position information from the control unit 20 (S1), and when the shift position becomes “R” (S2: Yes), drives the sonars 71 and 72. Obstacle detection (here, periodic output of detection waves) is started, and when an obstacle is detected based on the detection information, a notification output command for outputting a warning sound is output (S3). Here, the control unit 90 receives the notification output command, outputs a predetermined warning sound from the sound output device 93, and alerts the driver. On the other hand, when the shift position is a position different from “R” (S2: No), the control unit 70 outputs a notification end command for terminating the output of the warning sound (S4). When the control unit 90 receives the notification end command, the control unit 90 stops outputting the warning sound from the sound output device 93.

  Here, the operation input device 94 can be a backward assistance function execution operation unit that accepts an operation for starting obstacle detection (periodic output of detected waves). When the control unit 90 accepts the operation, the control unit 70 outputs a control command corresponding to the operation to the control unit 70, and the control unit 70 that receives the operation drives the sonars 71 and 72 to detect an obstacle (here, Periodic output of detection wave) is started.

  The rear assistance device 8 has a mirror surface 8a of the side mirror 8A on the passenger seat side outside the vehicle, a predetermined normal angle position facing the rear front, and a predetermined rear direction downward so that the vicinity of the rear wheel can be visually observed. It has a motor (driving unit) 81 that is driven to switch between the reverse angle position and a control unit 80 that controls the angle switching drive. As shown in FIGS. 5 and 6, the motor 81 here is capable of reciprocatingly driving the mirror member 83 forming the mirror surface 8 a around the axis of the rotating shaft 82. As illustrated in FIG. 7, the control unit 80 acquires shift position information from the control unit 20 (S1), and when the shift position becomes “R” (S2: Yes), the mirror surface 8a is in the normal angular position. The motor 81 is driven so as to switch from the position (solid line in FIG. 6) to the reverse angle position (dashed line in FIG. 6) (S3). On the other hand, when the shift position is a position different from “R” (S2: No), the control unit 80 drives the motor 81 so that the mirror surface 8a is switched from the reverse rotation angle position to the normal rotation angle position (S4). ).

  Here, the operation input device 94 can be a reverse assist function execution operation unit that accepts an operation of switching the mirror surface 8a between the normal angle position and the reverse angle position. When the control unit 90 receives the operation, the control unit 90 outputs a control command corresponding to the operation to the control unit 80, and the control unit 90 that has received the command sets the angle of the mirror surface 8a to an angle corresponding to the operation. The motor 81 is driven.

  Each control unit 10, 20, 30, 40, 50, 60, 70, 80, 90 is a control means configured as a normal computer having a known CPU, ROM, RAM, etc., and is shown in FIG. In this way, it is connected to a CAN (Controller Area Network) bus that constitutes the in-vehicle communication means 5 so that various types of information can be transmitted and received between them.

  By the way, in the parking assistance system 1 of this embodiment, the control part 10 is a driver | operator based on the predetermined parking start intention information acquired from each information acquisition part 11, 21, 31, 41, 51, 91. When it is determined that there is an intention to park, that is, an intention to start parking, the parking notification output unit 51 is maintained in the notification continuation state, and any one or a plurality of the reverse support functions of the reverse support devices 6, 7, 8 are supported. Set the parking mode to keep in the state.

  That is, when the parking mode is not set, each of the backward support devices 6, 7, and 8 can switch the backward support function to the support state when the vehicle 2 switches from the forward possible state or the forward / reverse impossible state to the reverse possible state. The reverse support function can be switched to the support release state when the vehicle is switched from the reverse travelable state to the forward travelable state or the forward / reverse travel impossible state. However, when the parking mode is set, the control unit 10 activates each of the reverse travel support functions. The parking support holding state to be held in the support state is set, and the holding state is held so as to continue even if the vehicle 2 is switched from the reverse travelable state to the forward possible state or the forward / backward impossible state.

  The parking start intention information is predetermined parking preparation determination information for determining whether or not the vehicle 2 satisfies a predetermined parking preparation state, and the control unit 10 has two or more types of predetermined parking preparations. When the state is satisfied at the same time, it is specified that the driver of the vehicle 2 has an intention to start parking.

  Here, the parking start intention information (parking preparation determination information) is information that is changed by an operation on a predetermined operation unit that can be operated by the driver. That is, the parking start intention information here is operation detection information indicating a detection result (operation content) of a predetermined parking preparation operation or a vehicle 2 generated as an operation result of a predetermined operation performed by the driver. And the controller 10 identifies and specifies that the driver has an intention to start parking on the condition that it has been determined that there has been such a driver's operation. And automatically set the parking mode.

  More specifically, the parking start intention information (parking preparation determination information) of the present embodiment includes detection information of a predetermined parking preparation operation and a current position that indicates the current position of the vehicle 2 that changes according to the driving operation of the driver. The control unit 10 is in a first parking preparation state in which the current position of the vehicle 2 is in the parking lot and is determined in advance based on the acquired parking preparation determination information. When it is determined that the second parking preparation state in which the prepared parking preparation operation has been performed is performed, it is specified that the driver has an intention to start parking. That is, the parking start intention information (parking preparation determination information) specifies that the driver has an intention to start parking when the vehicle 2 is in the parking lot and performs a predetermined parking preparation operation. Is set automatically.

  In the present embodiment, the parking preparation operation for determining the second parking preparation state includes, as shown in FIG. 12, a shift operation in which the shift position is set to an R position in which the vehicle 2 can move backward, and the vehicle 2 Running at a vehicle speed below a predetermined low speed (for example, 10 km / h, etc.) and reverse support execution with the reverse support function of any one of the reverse support devices 6, 7, and 8 being in the support state An operation and a notification execution operation for setting the parking notification output unit 52 to a notification state. Any one or more of these may be used instead of all of them. The control unit 10 specifies the presence / absence of the shift operation based on the detection information of the shift position sensor 21, specifies the presence / absence of the low-speed driving operation based on the detection information of the vehicle speed sensor 41, and executes the backward support The operation is specified based on the detection information of the shift position sensor 21 and the detection information of the operation to the operation detection unit 93 that constitutes the operation input unit of each of the backward support devices 6, 7, 8. It is specified based on the detection information of the operation to the detection unit (hazard switch) 51.

  Instead of the current position information of the vehicle 2, parking preparation operation detection information that is detection information of a driving operation that causes the current position of the vehicle 2 to be continuously present in the parking lot may be determined. In any case, it is possible to reduce erroneous determination to start parking by specifying that the driver has an intention to start parking on the condition that the vehicle 2 is detected in the parking lot.

  On the other hand, when the parking mode is set (parking support holding state), the control unit 10 is based on predetermined parking end intention information acquired from the information acquisition units 11, 21, 31, 41, 51, 91. When it is determined that the driver intends to end parking, the parking mode (parking support holding state) is canceled. That is, the notification state of the parking notification output unit 51 is ended, the reverse support function of the reverse support devices 6, 7, 8 is ended, and the parking support holding state is ended.

  The parking end intention information is predetermined parking end determination information for determining whether or not the vehicle 2 satisfies a predetermined parking end state, and the control unit 10 determines whether the parking end is predetermined when the parking mode is set. When the state is satisfied, it is specified that the driver of the vehicle 2 does not intend to end parking.

  Here, the parking end intention information (parking end determination information) is information that is changed by an operation on a predetermined operation unit that can be operated by the driver. That is, the parking end intention information here is the operation detection information indicating the detection result (operation content) of the predetermined parking end operation, or the parking end state of the vehicle 2 generated as the operation result of the predetermined operation. The control unit 10 specifies that the driver intends to end parking on the condition that it has been determined that such an operation has been performed, and automatically determines the parking mode when specified. To release.

  More specifically, the parking end intention information (parking end determination) of the present embodiment is detection information of a predetermined parking end operation performed by the driver, and the control unit 10 acquires the acquired parking end determination. Based on the information, when it is determined that a predetermined parking end operation has been performed, it is determined that the driver has an intention to end parking, and the parking mode is automatically canceled.

  In the present embodiment, as shown in FIG. 13, the parking end operation includes a detachment driving operation that causes the current position of the vehicle 2 to leave the parking lot, and a shift position in which the shift position is set to a P position that keeps the vehicle 2 stopped. An operation, a normal speed driving operation for causing the vehicle 2 to travel at a vehicle speed equal to or higher than a predetermined normal speed (for example, a predetermined speed higher than the low speed: a speed of 20 km / h, etc.); The driving source stop operation for stopping driving the engine and the motor, the support end operation for ending the support state of the reverse support function of the reverse support devices 6, 7, and 8, and the notification for ending the notification state of the parking notification output unit 51. An end operation and an intention expressing operation to a predetermined operation unit 11P for expressing the driver's intention to end parking. Any one or more of these may be used instead of all of them. The control unit 10 specifies the presence / absence of the shift operation based on the detection information of the shift position sensor 21, specifies the presence / absence of the normal speed driving operation based on the detection information of the vehicle speed sensor 41, and the support end operation. Is determined based on the detection information of the shift position sensor 21 and the detection information of the operation of the operation detection unit 93 that constitutes the manual operation input unit of each of the backward support devices 6, 7, and 8. (Hazard switch) It identifies based on the detection information of the operation to 51.

  Here, the automatic setting / automatic release processing of the parking mode in the present embodiment will be described with reference to FIG.

  First, the control unit 10 acquires communication information of the information acquisition unit (position detector) 91 from the control unit 90 (S101: start intention information acquisition unit), and based on the acquired detection information, the current position of the vehicle 2 is determined. It is determined whether or not the vehicle is in the parking lot (S102: second parking preparation state determining means (start intention specifying means)). When it is not in the parking lot (S102: No), since it can be determined that the driver does not intend to park, the control unit 10 ends this process without setting the parking mode. On the other hand, when it is in the parking lot (S101: Yes), the control unit 10 acquires communication information from the corresponding control units 21, 31, 51 of the information acquisition units 21, 31, 51 (S103: acquisition of start intention information). Means), based on the acquired detection information, it is determined whether or not the above-described predetermined parking preparation operation has been performed (S104: first parking preparation state determination means (start intention specifying means)). When the parking preparation operation is not performed (S104: No), it can be determined that the driver does not intend to park, and thus the control unit 10 ends this process without setting the parking mode. On the other hand, when the said parking preparation operation is made (S104: Yes), since there is a high possibility that the driver intends to park, the control unit 10 sets the parking mode assuming that the driver has a parking intention ( S105). That is, according to these processes, the parking mode can be automatically set in response to a user operation (parking preparation operation) necessary for parking.

  After setting the parking mode, the control unit 10 acquires communication information of the information acquisition unit (position detector) 91 from the control unit 90 (S106: end intention information acquisition unit), and based on the acquired detection information, the vehicle It is determined whether or not the current position of 2 is in the parking lot (S107: parking end state determining means (end intention specifying means)). When it is not in the parking lot (S107: No), since it can be determined that the driver has an intention to end parking, the control unit 10 cancels the parking mode (S110) and ends this process. On the other hand, when it is in the parking lot (S107: Yes), the control unit 10 acquires communication information from the corresponding control units 20, 30, 40, 50 of the detection information of the information acquisition units 21, 31, 41, 51 (S108: End intention information acquisition means), and based on the acquired detection information, it is determined whether or not the above-described predetermined parking end operation has been performed (S109: parking end state determination means (end intention specifying means)). If the parking end operation is not performed (S109: No), it can be determined that the driver does not intend to park, so the control unit 10 returns to S106 while the parking mode is set. On the other hand, when the parking end operation is performed (S109: Yes), since it is highly likely that the driver has an intention to end parking, the control unit 10 cancels the parking mode, assuming that the driver has an intention to end parking. To end this process. That is, according to these processes, the parking mode can be automatically canceled in response to a user operation (parking end operation) that is always performed after parking. Note that the processing of FIG. 8 is repeatedly executed at a predetermined cycle.

  In addition, the parking start intention information and the parking end intention information of the present embodiment also include detection information of a predetermined intention expression operation that expresses the driver's intention to start parking and the intention to end parking, and the control unit 10 When it is determined that the dedicated operation has been performed based on the detection information, the driver specifies that the vehicle has an intention to start parking or an intention to end parking (start intention specifying means, end intention specifying means). That is, the dedicated operation part (will intention operation part) for expressing the driver's own intention to start parking and the intention to end parking is in a position that can be operated by the driver in the passenger compartment, as shown in FIGS. In addition, when the dedicated operation unit 11P is operated (S201, 211), the control unit 10 forcibly sets the parking mode because the driver has an intention to start parking or an intention to end parking. (S202) or forcibly released (S212).

  The dedicated operation unit 11P here is the mode setting operation unit 11P of FIG. 2 in which the driver can manually switch between setting and canceling the parking mode, and the control unit 10 is based on the detection information of the information acquisition unit 11. The ON (setting state) / OFF (release state) of the operation to the operation unit 11P is specified.

  Forcibly setting the parking mode (S202), the parking mode may be forcibly set only when a predetermined condition is satisfied. For example, the control unit 10 can set the parking mode by operating the dedicated operation unit 11P only when at least one of two or more types of parking preparation states that must be satisfied in order to automatically set the parking mode is satisfied. Forcible setting may be permitted.

  Here, the parking support control (parking support function: support start control means and support end control means) of the present embodiment, which is executed when the parking mode is set, will be described with reference to FIG.

  The traveling mode of the vehicle 2 such as the parking mode is stored in the storage device 15 of the control unit 10. The control unit 10 reads the stored content (mode information) (S11), and determines that the current travel mode is not the parking mode (S12: No), the process is terminated. On the other hand, when it is determined that the parking mode is set (S12: Yes), the control unit 10 forcibly stops the reverse support control of each reverse support device 6, 7, 8 shown in FIG. 7 (S13), and each reverse support The backward support state of the devices 6, 7, and 8 is continuously held (S14), and the emergency flashing indicator light 52 is driven to flash, and this is also continuously held (S15). That is, the control unit 10 causes the control units 60, 70, and 80 of the backward assistance devices 6, 7, and 8 to execute the process of S8 in FIG. A control command for causing the emergency blinking indicator lamp 52 (hazard lamp) 52 to blink is output.

  As a result, the image captured by the rear-view camera 61 is displayed on the display device 92, the mirror surface 8a of the side mirror 8A becomes the reverse-travel angle position, and the obstacle detection process behind the vehicle by the sonars 71 and 72 is started and detected. The reverse support state is maintained. That is, these backward support states occur only when the shift position is “R” when executed as the backward support control of FIG. 7, and are canceled immediately when the shift position becomes another position. This process occurs not only when the shift position is “R”, but continues even if the shift position is changed from “R” (except for “P”). In the present embodiment, the emergency blinking indicator lamp (hazard lamp) 52 also starts blinking simultaneously. Even if the operation detection unit 51 is not operated, the emergency blinking indicator lamp (hazard lamp) 52 blinks, and notification to the vicinity of the vehicle 2 is started. When the intention to park is specified, these parking support functions and displays are automatically executed, and while these functions and displays continue while the intention to park continues, it is easy to use.

  However, when the parking mode is canceled, the control unit 10 ends the reverse support state of each reverse support device 6, 7, 8 that has been continuously held (S17), and resumes the reverse support control shown in FIG. At the same time (S18), the blinking drive of the emergency blinking indicator light 52 is terminated and the light is not turned on (S19). That is, the control unit 10 outputs a control command for ending the processing of S8 of FIG. 7 executed to the control units 60, 70, 80 of the respective backward assistance devices 6, 7, 8, and to the control unit 50. A control command for terminating the blinking driving of the emergency blinking indicator lamp (hazard lamp) 52 is output, and this process is terminated. This process is repeatedly executed at a predetermined cycle.

  As a result, the backward support state and the parking notification that have been executed automatically end, so that the end operation is not forgotten.

  As mentioned above, although one Embodiment of this invention was described, this is only an illustration to the last, and this invention is not limited to this. For example, various modifications based on the knowledge of those skilled in the art are possible, such as omitting some of the configuration requirements in the above-described embodiment and further adding other configuration requirements.

DESCRIPTION OF SYMBOLS 1 Parking assistance system 2 Vehicle 6, 7, 8 Reverse assistance apparatus 10 Control part 11 Mode switching operation part (information acquisition part)
21 Shift position sensor (information acquisition unit)
31 Ignition switch (information acquisition unit)
41 Vehicle speed sensor (information acquisition unit)
51 Emergency flashing display operation detection unit (information acquisition unit)
52 Parking Notification Output Unit 9 Car Navigation Device 91 Position Detector 92 Display Device 93 Sound Output Device 94 Operation Input Device

Claims (8)

A parking assistance system comprising: a backward assistance device in which a backward assistance function is switched to a support state as the vehicle is switched to a reverse travelable state; and a parking notification output unit that informs the vehicle parking outside.
Start intention information acquisition means for acquiring predetermined parking start intention information for determining the presence or absence of the driver's intention to start parking;
Based on the acquired parking start intention information, start intention specifying means for specifying whether the driver has a parking start intention,
When it is specified that the driver intends to start parking, the parking notification output unit is held in a notification state, and the parking support holding state in which the reverse support function of the reverse support device is held in a support state is started. On the other hand, the support start control means for continuing the parking support holding state even when the reverse travelable state is switched to the forward travelable state or the forward / reverse travel impossible state,
A parking assistance system comprising: The start intention information acquisition means acquires parking preparation determination information for determining whether or not the vehicle satisfies two or more types of predetermined parking preparation states as the parking start intention information,
The start intention specifying means specifies that the driver of the vehicle has an intention to start parking when it is determined that the two or more types of parking preparation states are satisfied based on the acquired parking preparation determination information. Item 10. The parking assistance system according to item 1. The start intention information acquisition means acquires, as the parking preparation determination information, detection information of a predetermined parking preparation operation and current position information indicating a current position of the vehicle that changes according to the driving operation of the driver. And
The start intention identification means is a second parking in which the vehicle is in a first parking preparation state where the current position is in the parking lot and the parking preparation operation is performed based on the acquired parking preparation determination information. The parking assistance system according to claim 2, wherein when it is determined that the vehicle is in a preparation state, the driver specifies that the driver has an intention to start parking.   The parking preparation operation includes a shift operation for setting the shift position to an R position that allows the vehicle to move backward, a low-speed driving operation for causing the vehicle to travel at a vehicle speed lower than a predetermined low speed, and the reverse assist function. The parking assistance system according to claim 3, which is any one or more of a backward assistance execution operation for setting a support state and a notification execution operation for setting the parking notification output unit to a notification state. The start intention information acquisition means acquires detection information of a predetermined intention expression operation expressing the driver's intention to start parking as the parking start intention information,
The start intention specifying means specifies that the driver has an intention to start parking when it is determined that the intention expressing operation has been performed based on the acquired detection information. The parking assistance system according to claim 1. End intention information acquisition means for acquiring predetermined parking end intention information for determining the presence or absence of the driver's intention to end parking;
Based on the acquired parking end intention information, the end intention specifying means for specifying whether or not the driver has an intention to end parking;
When it is specified that the driver intends to end parking in the parking support holding state, the notification state of the parking notification output unit is ended, and the reverse support function of the reverse support device is ended, Assistance termination control means for terminating the parking assistance holding state;
The parking assistance system according to any one of claims 1 to 5, further comprising: The end intention information acquisition means acquires a plurality of parking end determination information for determining whether or not the vehicle satisfies a predetermined parking end state as the parking end intention information.
The end intention specifying means specifies that the driver has an intention to end parking when it is determined that at least one of a plurality of the parking end states is satisfied based on the acquired parking end determination information. The parking assistance system according to claim 6. The parking end intention information includes a separation driving operation in which the current position of the vehicle is separated from the parking lot, a shift operation in which the shift position is set to a P position in which the vehicle is held in a stopped state, and a predetermined normal state of the vehicle. A normal speed driving operation for driving at a vehicle speed equal to or higher than the speed, a driving source stop operation for driving and stopping the driving source of the vehicle, a support ending operation for ending the support state of the backward support function, and a notification of the parking notification output unit The parking support system according to claim 7, which is detection information of any one or a plurality of operations of a notification ending operation for ending the state and a predetermined intention expressing operation for expressing the driver's intention to end parking.

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