JP2014184746A - Parking assist apparatus, and control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking assist apparatus and a control device which can appropriately perform parking assist.SOLUTION: A parking assist apparatus 1 comprises: a detecting device 3 for detecting an object around an own vehicle 2; an assist device 6 loaded in the own vehicle 2 and capable of assisting parking of the own vehicle 2; and a control device 7 capable of performing parking assist for the own vehicle 2 by controlling the assist device 6 on the basis of the detection result of the detecting device 3. When automatic braking of the own vehicle 2 is actuated during parking assist for the own vehicle 2, the control device 7 continues the automatic braking until detecting driver's recognition operation of a travel direction, and cancels the automatic braking after detection of the driver's recognition operation. Therefore, the parking assist apparatus 1 and the control device 7 can appropriately perform parking assist.

Description

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

  As a conventional parking support device and control device mounted on a vehicle, for example, in Patent Document 1, when an obstacle is detected in a traveling direction when the vehicle is parked in a parking space, the vehicle is automatically braked and stopped. A vehicle with a parking assist function is disclosed.

JP 2008-074296 A

  By the way, it is hoped that the vehicle with a parking support function described in Patent Document 1 described above can appropriately perform parking support even after the vehicle is automatically braked and stopped during parking support as described above. It is rare.

  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 support for parking of the host vehicle, the control device during the parking support of the host vehicle, When the automatic braking of the host vehicle is activated, the automatic braking is continued until the recognition operation in the traveling direction by the driver is detected, and the automatic braking is released after the recognition operation is detected.

  Further, in the parking assist device, the driving direction recognition operation by the driver may include at least an operation of changing the shift position of the host vehicle by the driver.

  Further, in the parking assist device, the control device controls the assist device after releasing the automatic braking, and assists the driver to give attention to an approach of the host vehicle to an object around the host vehicle. Can be executed.

  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 support for parking of the host vehicle, the control device during the parking support of the host vehicle, When automatic braking of the host vehicle is activated, the automatic braking is continued until a change in the shift position of the host vehicle is detected, and the automatic braking is released after detecting the change in the shift position.

  In order to achieve the above object, a control device according to the present invention is a control device capable of executing control for supporting parking of the host vehicle based on a detection result of an object around the host vehicle. When automatic braking of the host vehicle is activated during parking assistance of the vehicle, the automatic braking is continued until the driver recognizes the advancing direction recognition operation, and the automatic braking is canceled after the recognition operation is detected. It is characterized by doing.

  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 an embodiment. Drawing 2 is a mimetic diagram explaining parking assistance of a parking assistance device concerning an embodiment. FIG. 3 is a schematic diagram for explaining an instantaneous map of the parking assistance apparatus according to the embodiment. Drawing 4 is a mimetic diagram explaining an accumulation map of a parking assistance device concerning an embodiment. Drawing 5 is a mimetic diagram explaining parking assistance after cancellation of an automatic emergency stop of a parking assistance device concerning an embodiment. Drawing 6 is a mimetic diagram explaining parking assistance after cancellation of an automatic emergency stop of a parking assistance device concerning an embodiment. Drawing 7 is a mimetic diagram explaining parking assistance after cancellation of an automatic emergency stop of a parking assistance device concerning an embodiment. FIG. 8 is a flowchart illustrating an example of control by the ECU of the parking assistance device according to the 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]
FIG. 1 is a schematic configuration diagram of a parking assistance device according to an embodiment. Drawing 2 is a mimetic diagram explaining parking assistance of a parking assistance device concerning an embodiment. FIG. 3 is a schematic diagram for explaining an instantaneous map of the parking assistance apparatus according to the embodiment. Drawing 4 is a mimetic diagram explaining an accumulation map of a parking assistance device concerning an embodiment. 5, FIG. 6, and FIG. 7 are schematic diagrams for explaining the parking assistance after the automatic emergency stop of the parking assistance device according to the embodiment is released. FIG. 8 is a flowchart illustrating an example of control by the ECU of the parking assistance device according to the 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. The parking assist device 1 is a system that controls driving force, braking, shift, and the like of the vehicle 2 and automates a parking action, for example. When the parking assistance device 1 unavoidably performs an automatic emergency stop on the system due to obstacle approach during automatic control, the system state recognized by the driver is inconsistent with the original system state. To continue the automatic emergency stop. Moreover, the parking assistance apparatus 1 will cancel | release automatic emergency stop, if it judges that the said consistency was taken. The parking assistance apparatus 1 can further bring the vehicle 2 closer to an obstacle, for example, after cancellation of the automatic emergency stop. Thereby, the parking assistance apparatus 1 can operate the vehicle 2 safely and without bothering the driver after canceling the automatic emergency stop. The parking assistance apparatus 1 of this embodiment is implement | achieved by mounting the component shown in FIG.

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

  The detection device 3 detects an object such as a parked vehicle around the vehicle 2. As the detection device 3 of the present embodiment, for example, a wide-angle laser radar using laser light can be used. The wide-angle laser radar scans the periphery of the vehicle 2 by irradiating a laser beam within a predetermined range from the irradiating unit, and receives the reflected light from the object of the laser beam by the light receiving unit. Detect objects such as. The wide-angle laser radar can detect the position of the object, the distance to the object, the shape of the object, etc. by receiving the reflected light reflected by the object existing in the area scanned by the laser light with the light receiving unit. .

  Note that the detection device 3 of the present embodiment is not limited to this, for example, millimeter-wave radar, radar using infrared rays, short-range radar such as UWB (Ultra Wide Band) radar, audible sound wave or ultrasonic wave You may use the sonar using etc. In addition, the detection device 3 analyzes the image data obtained by imaging the periphery of the vehicle 2 using, for example, a front camera, a back camera, a stereo camera such as a left and right side camera, a periphery monitoring CCD camera (imaging device), and the like. An image recognition device or the like that detects objects around the object may be used.

  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, and can measure at least the own vehicle position of the vehicle 2. The own vehicle state detection device 4 includes, for example, at least one of a wheel speed (pulse) sensor 41, a yaw rate sensor 42, a steering angle sensor 43, an acceleration sensor 44, a GPS receiver 45, a shift position sensor 46, and the like. May be. The wheel speed sensor 41 detects the wheel speed of each wheel of the vehicle 2 as vehicle information. For example, the ECU 7 can calculate the vehicle speed of the vehicle 2 from the wheel speed of each wheel. 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 shift position sensor 46 detects the position of the shift lever where the driver performs the shift range operation, that is, the shift position, as vehicle information. The shift position detected by the shift position sensor 46 includes, for example, a parking range in which the vehicle 2 is parked, a neutral range in which the vehicle 2 is in a neutral state, a drive range in which the vehicle 2 travels forward, and a reverse range in which the vehicle 2 travels backward. Etc.

  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 includes, for example, a steering device that can automatically steer the steered wheels of the vehicle 2, a power source for traveling the vehicle 2 such as an internal combustion engine and an electric motor, a transmission that changes the power generated by the power source, The vehicle 2 may include at least one such as a braking device that can automatically brake the vehicle 2. In this case, the support device 6 automatically adjusts the steering angle of the steered wheels (steer adjustment), automatically adjusts the driving force of the vehicle 2 (accelerator (drive) adjustment), and automatically adjusts the travel speed (speed ratio) (shift adjustment). ), By performing automatic adjustment (brake (braking) adjustment) of the braking force of the vehicle 2, automatic parking assistance for parking the vehicle 2 at the target parking position by automatic driving 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 detection device 3, the host vehicle state detection device 4, and the system switch 5 described above, and an electric signal corresponding to the detection result is input. 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 detection device 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 detection device 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 source of the vehicle 2. The drive control ECU, the shift control ECU that controls the transmission of the vehicle 2, the brake control ECU that controls the braking device of the vehicle 2, and the like are configured separately, and exchange information such as detection signals, drive signals, and control commands with each other. The structure which performs this may be sufficient.

  Further, the ECU 7 of the present embodiment automatically detects the approach of the vehicle 2 to the obstacle and automatically detects the vehicle 2 based on the detection result of the detection device 3 and the position of the vehicle 2 (own vehicle) during the parking assistance. It is possible to execute an automatic emergency stop that brakes at. The automatic emergency stop (automatic braking) is typically activated when an obstacle is detected in the traveling direction of the vehicle 2 during the parking assistance of the vehicle 2. The ECU 7 controls the braking device or the like constituting the assisting device 6 when an obstacle is detected in the traveling direction of the vehicle 2 during parking assistance of the vehicle 2, and automatically brakes and stops the vehicle 2. Perform an automatic emergency stop.

  When the automatic emergency stop (automatic braking) of the vehicle 2 is activated during parking assistance of the vehicle 2, the ECU 7 of the present embodiment continues the automatic braking until the driver recognizes the traveling direction recognition operation. By doing so, parking assistance can be performed appropriately.

  Specifically, as shown in FIG. 1, the ECU 7 conceptually has a data acquisition unit 71, an accumulation map generation unit 72, a target parking position setting unit 73, a control unit 74, and an automatic emergency stop determination. Part 75 and a consistency confirmation part 76.

  The data acquisition unit 71 acquires information (data) according to the detection results of the detection device 3 and the own vehicle state detection device 4. The data acquisition unit 71 starts the operation of the parking assistance system when the system switch 5 is turned on (ON) by the driver and senses that there is an intention to start parking assistance, for example, and the detection device accordingly 3. Acquisition of information according to the detection result by the own vehicle state detection device 4 is started.

  The data acquisition unit 71 determines, for example, whether or not 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 (support start vehicle speed <detection start vehicle speed), or By determining whether or not the vehicle 2 is temporarily stopped at a position adjacent to the parking space, it is determined whether or not the driver intends to start parking assistance, and information acquisition is started. Also good.

  The accumulation map generation unit 72 generates an accumulation map based on the information acquired by the data acquisition unit 71. More specifically, the accumulation map generation unit 72 uses the information about the objects around the vehicle 2 detected by the detection device 3 and acquired by the data acquisition unit 71 as the obstacle information and the position thereof. Data is accumulated sequentially, and an accumulation map regarding obstacles is generated. The accumulation map generation unit 72 is detected in the course of an approach from the start of the parking assistance system to the vicinity of the target parking planned position after the parking assist system is started, for example, in a parking lot. An accumulation map relating to obstacles such as parked vehicles and other objects is generated.

  Here, the instantaneous map and the accumulation map of the obstacle will be described by taking the parking assistance time as shown in FIG. 2 as an example. FIG. 3 shows an example of the instantaneous map in the state as shown in FIG. 2, and FIG. 4 shows an example of the accumulation map in the state as shown in FIG. Note that a range A in FIGS. 2, 3, and 4 represents a detection range (scanning region) by the detection device 3 of the vehicle 2. A solid line 50 in FIGS. 3 and 4 represents obstacle information such as the parked vehicle 8 reflected in the map.

  The instantaneous map of the obstacle shown in FIG. 3 is a map representing instantaneous obstacle information at the moment when the detection device 3 detects the obstacle. In this case, the instantaneous map is outside the range of the detection range A by the detection device 3 and is, for example, in a region where the inner ring of the vehicle 2 passes during parking assistance (for example, the region of the encircled line B in FIG. 3). There is a possibility that obstacle information (solid line 50) such as the existing parked vehicle 8 is not reflected.

  On the other hand, the obstacle accumulation map shown in FIG. 4 is a map in which instantaneous obstacle information at the moment when the detection device 3 detects an obstacle is accumulated as time passes. In other words, the accumulation map is obtained by accumulating past instantaneous obstacle information from when the detection device 3 starts detecting an obstacle until the present time. In this case, the accumulation map is outside the range of the detection range A by the detection device 3 and exists in a region where the inner wheel of the vehicle 2 passes during parking assistance (for example, the region of the encircled line B in FIG. 4). Obstacle information such as the parked vehicle 8 (solid line 50) can also be reflected. Here, the accumulation map generation unit 72 detects an obstacle around the vehicle 2 based on the information acquired by the data acquisition unit 71, and when there is an obstacle, as the obstacle information, The position, the distance to the obstacle, the shape of the obstacle, and the like are detected, and an accumulation map as shown in FIG. 4 is generated based on the detected obstacle information.

  Therefore, the ECU 7 performs parking support or determination of the presence or absence of an obstacle based on the accumulation map generated by the accumulation map generation unit 72, for example, a corner monitor or corner sonar dedicated to obstacle detection in an inner ring difference, etc. Without providing the obstacle, the obstacle outside the detection range A by the detection device 3 can be reflected in various controls.

  The target parking position setting unit 73 sets the target parking position of the vehicle 2 based on the position of an obstacle such as a parked vehicle detected by the detection device 3. The target parking position setting unit 73 is based on, for example, the obstacle accumulation map, the current travel point (current position) of the vehicle 2, the travel direction, the vehicle grade of the vehicle 2 stored in the storage unit, and the like. May be set. Here, the obstacle accumulation map is obtained by accumulating obstacle information such as the position of the obstacle, the distance to the obstacle, and the shape of the obstacle, as described above. The one acquired by 71 and generated by the accumulation map generation unit 72 can be used. As described above, the current travel point and travel direction of the vehicle 2 are calculated based on the GPS information received by the GPS receiver 45 of the host vehicle state detection device 4 and acquired by the data acquisition unit 71. Can do. The target parking position setting unit 73 searches for a vacant space in which the vehicle 2 having the stored vehicle type can be parked, and sets the vacant space as a target parking position when the vacant space in which the vehicle 2 can be parked is detected. To do. Then, the target parking position setting unit 73 generates a parking route from the current position of the vehicle 2 to the target parking position.

  The control unit 74 controls each unit of the vehicle 2 including the support device 6. Based on the target parking position and the parking route set by the target parking position setting unit 73, the control unit 74 outputs and controls a control signal to the support device 6, and causes the support device 6 to actually perform parking support, and automatically Carry out parking assistance such as parking assistance and information-providing driving assistance.

  The automatic emergency stop determination unit 75 detects an obstacle approach to the vehicle 2 based on the detection result by the detection device 3 and the position of the vehicle 2 (own vehicle), and executes an automatic emergency stop that automatically brakes the vehicle 2. The presence or absence of this is judged. The automatic emergency stop determination unit 75 typically includes an obstacle accumulation map detected by the detection device 3, acquired by the data acquisition unit 71 and generated by the accumulation map generation unit 72, and a GPS receiver of the host vehicle state detection device 4. 45 is detected and the approach of the vehicle 2 is detected based on the current travel point (current position) and travel direction of the vehicle 2 according to the GPS information received by the data acquisition unit 71.

The automatic emergency stop determination unit 75, for example, the relative physical quantity indicating the relative positional relationship between the vehicle 2 and the obstacle based on the obstacle accumulation map, the current traveling point (current position) of the vehicle 2, and the traveling direction. Is detected. For example, the automatic emergency stop determination unit 75 may use, as the relative physical quantity, a relative speed (m / s), a relative distance (m), a relative deceleration (m / s ² ), TTC (Time− To-Collision: at least one of contact margin time (s) and the like is detected. Here, TTC (hereinafter sometimes referred to as “relative time”) corresponds to the time until the vehicle 2 reaches the obstacle, and the relative distance between the vehicle 2 and the obstacle is converted according to the relative speed. It corresponds to the time.

  Then, the automatic emergency stop determination unit 75 determines the possibility of contact between the traveling obstacle and the vehicle 2 based on the detected relative physical quantity. The automatic emergency stop determination unit 75 determines that “there is an obstacle in the traveling direction”, for example, when the relative distance between the vehicle 2 and the obstacle is equal to or less than a preset relative distance threshold. . The automatic emergency stop determination unit 75 determines that “there is an obstacle in the traveling direction” when, for example, the TTC (relative time) is equal to or less than a preset TTC threshold as the relative physical quantity. Also good. The relative distance threshold value and the TTC threshold value are set in advance based on actual vehicle evaluation and the like, and are stored in the storage unit of the ECU 7. When the automatic emergency stop determination unit 75 determines that “there is an obstacle in the traveling direction” with the obstacle, the automatic emergency stop determination unit 75 outputs an automatic emergency stop command signal for causing the control unit 74 to execute the automatic emergency stop.

  And the control part 74 performs an automatic emergency stop based on the judgment of the automatic emergency stop judgment part 75. FIG. When an automatic emergency stop command signal is input from the automatic emergency stop determination unit 75, the control unit 74 outputs a control signal to the support device 6 to control the steering device, power source, and transmission that constitute the support device 6. The automatic emergency stop is actually performed by a braking device or the like. In this case, the control unit 74 may further control a speaker constituting the support device 6 to output an alarm sound or the like that causes the vehicle 2 to approach the obstacle.

  The consistency confirmation unit 76 confirms the consistency of the system state recognition of the driver. Here, when the parking assistance device 1 performs an automatic emergency stop during parking assistance as described above, the steering device (steer), the power source (traction), the transmission (shift), and the braking device that constitute the assistance device 6. (Brake) etc. are controlled and automatic emergency stop is performed automatically. For this reason, the driver may misrecognize the current shift position information in a state after the vehicle 2 is stopped by the automatic emergency stop, and the traveling direction intended by the driver and the traveling direction recognized by the system May shift.

  Therefore, when the automatic emergency stop of the vehicle 2 is activated, the consistency confirmation unit 76 confirms the consistency of the system state recognition of the driver by detecting whether or not the driver recognizes the traveling direction. Here, the operation of recognizing the traveling direction by the driver includes at least the operation of changing the shift position of the vehicle 2 at least once by the driver.

  Specifically, the consistency confirmation unit 76 detects the presence / absence of the recognition operation in the traveling direction by the driver based on the detection result detected by the own vehicle state detection device 4 and acquired by the data acquisition unit 71. More specifically, the consistency check unit 76 is based on information on the shift position of the vehicle 2 detected by the shift position sensor 46 of the host vehicle state detection device 4 and acquired by the data acquisition unit 71 in the direction of travel by the driver. The presence or absence of recognition operation is detected. The consistency checking unit 76 determines that “the driver recognizes the traveling direction” when detecting an operation of changing the shift position of the vehicle 2 at least once by the driver, for example.

  For example, a case where the vehicle 2 is parked by reversing will be described as an example, and an example of detecting the recognition operation in the traveling direction will be described. In this case, for example, if the shift position is in the reverse range before the automatic emergency stop, the consistency check unit 76 temporarily changes the shift position to another range (parking range, neutral range, drive). When the operation of changing to the reverse range is detected again after changing to (range), it is determined that “the driver recognizes the direction of travel”. For example, when the shift position before the automatic emergency stop is in a range other than the reverse range, the consistency check unit 76 changes the shift position from the other range to the reverse range. When the motion is detected, it is determined that “the driver recognizes the traveling direction”.

  Then, when the consistency confirmation unit 76 determines that “the driver recognizes the traveling direction” as described above, in the state after the vehicle 2 stops due to the automatic emergency stop, the recognition by the driver and the system It is determined that the state is consistent with recognition, that is, the traveling direction intended by the driver matches the traveling direction recognized by the system. When the consistency confirmation unit 76 determines that the recognition by the driver and the recognition by the system are consistent, the automatic emergency stop determination unit 75 detects that the driver recognizes the traveling direction. Outputs an appropriate signal for consistency.

  The automatic emergency stop determination unit 75 once outputs the automatic emergency stop command signal to the control unit 74 and then continues the automatic emergency stop command signal until the consistency check signal is input from the consistency check unit 76. . On the other hand, when an appropriate consistency signal is input from the consistency confirmation unit 76, the automatic emergency stop determination unit 75 outputs an automatic emergency stop cancellation command signal for canceling the automatic emergency stop to the control unit 74.

  When the automatic emergency stop cancellation command signal is input from the automatic emergency stop determination unit 75, the control unit 74 outputs a control signal to the support device 6 to control the steering device and the power source that constitute the support device 6. The automatic emergency stop which is implemented by a transmission, a braking device or the like is released.

  As a result, when the automatic emergency stop (automatic braking) of the vehicle 2 is activated during the parking assistance of the vehicle 2, the ECU 7 continues the automatic emergency stop until the driver recognizes the traveling direction recognition operation. Can do. And when the said automatic emergency stop of the vehicle 2 act | operates during parking assistance of the vehicle 2, the control part 74 can cancel | release automatic emergency stop, after detecting the recognition operation | movement of the advancing direction by a driver | operator. Here, when the automatic emergency stop of the vehicle 2 is activated during the parking assistance of the vehicle 2, the ECU 7 continues the automatic emergency stop until the change of the shift position by the driver is detected, and changes the shift position. Automatic emergency stop can be released after detection.

  Then, the control unit 74 activates the automatic emergency stop during the parking assistance of the vehicle 2, and then releases the automatic emergency stop, and then provides the parking assistance by bringing the vehicle 2 closer to the obstacle. You can resume. In this case, after the automatic emergency stop is cancelled, the control unit 74 controls the support device 6 as further additional parking assistance, and approaches the obstacle of the vehicle 2 (an object around the vehicle 2). Thus, assistance that prompts the driver's attention may be provided. In this case, as illustrated in FIG. 5, the control unit 74 controls the speaker configuring the support device 6 based on the relative physical quantity between the vehicle 2 and the obstacle detected by the automatic emergency stop determination unit 75, An alarm sound such as “beep” that indicates the degree of approach or distance of the vehicle 2 to the obstacle may be output. In addition, as illustrated in FIG. 6, the control unit 74 controls the display configuring the support device 6 based on the relative physical quantity between the vehicle 2 and the obstacle detected by the automatic emergency stop determination unit 75, so that the vehicle The degree of approach and distance to the obstacle 2 may be output as an image display with an overhead view (an image as if the vehicle 2 is looked down from above in the vertical direction). Further, as illustrated in FIG. 7, the control unit 74 controls the display configuring the support device 6 based on the relative physical quantity between the vehicle 2 and the obstacle detected by the automatic emergency stop determination unit 75, so that the vehicle The degree of approach and distance to the obstacle 2 may be output as an image display by an indicator. In this case, the control unit 74 uses a threshold value (for example, a value that allows closer access) other than the threshold values (relative distance threshold value, TTC threshold value, etc.) for the relative physical quantity used to determine whether there is an automatic emergency stop. An alarm sound or the like may be output.

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

  First, when the system switch 5 is turned on by the driver and the ECU 7 detects that there is an intention to start parking assistance, the ECU 7 starts the operation of the parking assistance system (step ST1). In this case, the data acquisition unit 71 of the ECU 7 starts acquiring information according to the detection results of the detection device 3 and the own vehicle state detection device 4. The target parking position setting unit 73 of the ECU 7 includes the position of an obstacle such as a parked vehicle detected by the detection device 3, the current travel point (current position) of the vehicle 2, the travel direction, and the vehicle 2 stored in the storage unit. A target parking position and a parking route are set based on the vehicle grade and the like. The control part 74 of ECU7 controls the assistance apparatus 6 based on a target parking position and a parking route, and makes the assistance apparatus 6 actually implement parking assistance.

  Next, the accumulation map generation unit 72 of the ECU 7 generates (updates) an accumulation map as needed based on the information acquired by the data acquisition unit 71 (step ST2). The accumulation map generation unit 72 sequentially accumulates the obstacle of the vehicle 2 and its position data as obstacle information based on the information about the objects around the vehicle 2 detected by the detection device 3 and acquired by the data acquisition unit 71. Then, an accumulation map relating to the obstacle as illustrated in FIG. 4 is generated.

  Next, the automatic emergency stop determination unit 75 of the ECU 7 detects the approach of the vehicle 2 to the obstacle based on the information acquired by the data acquisition unit 71, the accumulation map generated by the accumulation map generation unit 72, and the like. It is determined whether or not an emergency stop is performed (step ST3).

  When it is determined by the automatic emergency stop determination unit 75 that the automatic emergency stop needs to be executed (step ST3: Yes), the control unit 74 controls the support device 6 to temporarily cancel the operation of the parking support system ( In step ST4), an automatic emergency stop is actually performed (step ST5). In this case, the data acquisition unit 71 continues to acquire data even after the parking assistance system is once deactivated.

  Next, the consistency confirmation part 76 of ECU7 confirms the consistency of a driver | operator's system state recognition (step ST6). The consistency confirmation unit 76 determines whether the driver recognizes the traveling direction based on the information about the shift position of the vehicle 2 acquired by the data acquisition unit 71, thereby recognizing the driver and the system. It is determined whether or not the state is consistent.

  The control unit 74 determines that the consistency confirmation unit 76 determines that “the driver does not recognize the direction of travel” and the recognition by the driver is not consistent with the recognition by the system ( Step ST6: No), the process proceeds to step ST5, and the automatic emergency stop is continued.

  The control unit 74 determines that the consistency confirmation unit 76 determines that “the driver recognizes the direction of travel” and that the recognition by the driver is consistent with the recognition by the system ( Step ST6: Yes), the support device 6 is controlled, the automatic emergency stop is released (step ST7), and the operation of the parking support system is restarted (step ST8). In this case, the control unit 74 controls the support device 6 as further additional parking assistance, and prompts the driver to approach the obstacle of the vehicle 2 (an object around the vehicle 2). Provide support.

  Next, the control part 74 determines whether parking assistance was complete | finished (step ST9). For example, the control unit 74 determines whether or not the parking assistance has ended by determining whether or not the vehicle 2 is actually parked at the target parking position.

  When it is determined that the parking assistance has ended (step ST9: Yes), the control unit 74 ends this control. When it is determined that the parking assistance has not ended (step ST9: No), the control unit 74 shifts the process to step ST2 and repeatedly executes the subsequent processes.

  When it is determined in step ST3 that the automatic emergency stop determination unit 75 does not need to execute an automatic emergency stop (step ST3: No), the control unit 74 shifts the process to step ST9.

  Note that the ECU 7 may clear the accumulation map as appropriate, for example, when the IG-OFF is performed, or when the vehicle 2 leaves the parking lot and the vehicle speed exceeds a preset data clear vehicle speed.

  When the automatic emergency stop is activated during the parking assistance of the vehicle 2, the parking assistance device 1 configured as described above continues the automatic emergency stop until the driver recognizes the advancing direction recognition operation. The automatic emergency stop is canceled after detecting. Here, the parking assistance device 1 continues the automatic emergency stop until it detects a change of the shift position of the vehicle 2 by the driver, and releases the automatic emergency stop after detecting the change of the shift position. Therefore, the parking assistance device 1 can cancel the automatic emergency stop after the automatic emergency stop during the parking assistance and the consistency between the recognition by the driver and the recognition by the system is achieved. That is, since the parking assistance device 1 can confirm that the vehicle 2 has advanced in the direction in which the driver wants to proceed by performing a shift input by the driver after the automatic emergency stop during parking assistance, the driver's intended progress The automatic emergency stop can be canceled after the direction and the traveling direction recognized by the system can be estimated. As a result, the parking assistance device 1 can prevent the vehicle 2 from moving in a direction not intended by the driver after an automatic emergency stop during parking assistance. Thereby, after the automatic emergency stop, the parking assistance apparatus 1 can cancel the automatic emergency stop appropriately, and can make the vehicle 2 approach the obstacle more safely and appropriately provide parking assistance. it can.

  According to the parking assistance device 1 according to the embodiment described above, the detection device 3 that detects an object around the host vehicle, and the support device 6 that is mounted on the host vehicle and can assist parking of the host vehicle. And an ECU 7 that can control the support device 6 based on the detection result of the detection device 3 and can assist the parking of the host vehicle. Then, when automatic braking (automatic emergency stop) of the host vehicle is activated while assisting the parking of the host vehicle, the ECU 7 continues the automatic braking until the driver recognizes the traveling direction recognition operation. After detecting the operation, the automatic braking is released. Here, when the automatic braking (automatic emergency stop) of the own vehicle is activated while assisting the parking of the own vehicle, the ECU 7 continues the automatic braking until the change of the shift position of the own vehicle is detected. After detecting the change of position, the automatic braking is released. Therefore, since the parking assistance device 1 and the ECU 7 can cancel the automatic emergency stop after reaching a state in which it is possible to estimate that the recognition by the driver and the recognition by the system are consistent, Even when braking is activated, parking assistance can be performed appropriately.

  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.

1 Parking support device 2 Vehicle (own vehicle)
3 Detection Device 4 Own Vehicle State Detection Device 5 System Switch 6 Support Device 7 ECU (Control Device)
8 Parking Vehicle 41 Wheel Speed Sensor 42 Yaw Rate Sensor 43 Steering Angle Sensor 44 Acceleration Sensor 45 GPS Receiver 46 Shift Position Sensor 71 Data Acquisition Unit 72 Accumulated Map Generation Unit 73 Target Parking Position Setting Unit 74 Control Unit 75 Automatic Emergency Stop Determination Unit 76 Consistency check unit

Claims (5)

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;
When the automatic braking of the host vehicle is activated while assisting the parking of the host vehicle, the control device continues the automatic braking until the driver recognizes the recognition operation in the traveling direction, and detects the recognition operation. After the automatic braking is released,
Parking assistance device. The operation of recognizing the traveling direction by the driver includes at least an operation of changing the shift position of the host vehicle by the driver.
The parking assistance device according to claim 1. The control device controls the support device after releasing the automatic braking, and executes support for calling attention to an approach of the host vehicle to an object around the host vehicle.
The parking assistance device according to claim 1 or 2. 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;
When the automatic braking of the own vehicle is activated while assisting parking of the own vehicle, the control device continues the automatic braking until the change of the shift position of the own vehicle is detected, and changes the shift position. The automatic braking is canceled after detecting
Parking assistance device. A control device capable of executing control for assisting parking of the host vehicle based on a detection result of an object around the host vehicle,
If automatic braking of the host vehicle is activated during parking assistance of the host vehicle, the automatic braking is continued until a recognition operation in the traveling direction by the driver is detected, and the automatic braking is performed after detecting the recognition operation. Characterized by canceling,
Control device.

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