JP2015074264A - Parking assisting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking assisting device capable of reducing troublesomeness of a user which accompanies re-setting of a target parking position.SOLUTION: A parking assisting device 12 includes a control device 18 which executes a target parking position setting control for setting a target parking position when assisting parking and a guidance control for guiding a vehicle 10 to the target parking position that is set, and an interruption command input part in which an interruption command about parking assistance is inputted from a user. If an input is made into the interruption command input part just after switching from the target parking position setting control to the guidance control, the control device 18 returns to the target parking position setting control without interrupting the parking assistance.

Description

  The present invention relates to a parking assistance device that performs parking assistance for guiding a vehicle to a target parking position.

  In Patent Literature 1, when the parking assistance activation switch 3 is turned on and parking assistance control is started, an overhead image is generated based on the imaging signal from the camera 2. Then, the final parking position in the parking slot S detected by performing image processing on the overhead image is set ([0024] to [0025]). In Patent Document 1, when the parking assistance start switch 3 is turned off, the parking assistance control ends at any stage ([0048]).

  Patent Document 2 discloses that a user can select a plurality of target parking positions (hereinafter referred to as “candidate positions” in the meaning of candidates for final target parking positions). (FIG. 8B, [0040] to [0043]).

JP 2009-073450 A JP 2011-039600 A

  When the user can select any of a plurality of candidate positions as in Patent Document 2, there is a possibility that the user may request re-selection after the selection of the target parking position is confirmed and the vehicle guidance is started. It is done. In this regard, Patent Document 2 does not discuss anything.

  Even in Patent Document 1, the necessity of re-selecting the target parking position is not mentioned. As described above, in the configuration using the parking support activation switch 3 in Patent Document 1, the parking support control ends by turning off the switch 3 ([0048]). For this reason, when the user wants to reselect the target parking position, the user turns on the switch 3 and waits for the start of the parking support control, and again, the process related to the setting of the target parking position (for example, Patent Document 2). The user must select a target parking position), which is troublesome. Furthermore, the same problem occurs when the user accidentally presses the switch 3 at the start of guidance.

  The present invention has been made in consideration of the above-described problems, and an object of the present invention is to provide a parking assistance device that can reduce the troublesomeness of a user associated with resetting a target parking position.

  The parking assistance device according to the present invention performs parking assistance for guiding a vehicle to a target parking position, and the parking assistance device sets a target parking position for setting the target parking position in the parking assistance. A control device that executes control and guidance control for guiding the vehicle to the set target parking position, and a stop command input unit that receives a stop command for the parking assistance from a user, The control device returns to the target parking position setting control without stopping the parking support when there is an input to the stop command input unit immediately after switching from the parking position setting control to the guidance control. To do.

  For example, in a configuration where there is no operation button or the like for resetting the target parking position, an input operation is performed on the stop command input unit even when the user requests resetting of the target parking position instead of canceling parking support. Need to do. According to the present invention, when there is an input to the stop command input unit immediately after switching from the target parking position setting control to the guidance control, the parking assistance is not stopped and the process returns to the target parking position setting control. For this reason, it becomes unnecessary to ask the user for an operation for starting execution of the target parking position setting control again. Therefore, it is possible to reduce the troublesomeness of the user.

  When the target parking position setting control is switched to the guidance control, the control device determines whether or not the user has a reset intention that is an intention to reset the target parking position, and the reset intention is determined. If there is an input to the stop command input unit before determining that there is no, the control device returns to the target parking position setting control without stopping the parking support, and determines that there is no intention to reset When there is an input to the stop command input unit later, the control device may stop the parking assistance.

  Thereby, even if it is the input to the same cancellation instruction | indication input part, according to a user's intention, it becomes possible to reset a target parking position or to cancel parking assistance.

  When the vehicle has never moved after the start of the guidance control, the control device performs the target parking position setting control without stopping the parking support when there is an input to the stop command input unit. You may return.

  If there is an input to the stop command input unit when the vehicle has never moved after the start of the guidance control, the user is more likely to request resetting of the target parking position than to stop parking support. Conceivable. According to the above configuration, it is possible to improve the convenience of the user by taking a response according to the user's intention.

  The parking assistance device includes a display device that displays a guidance screen for the parking assistance. In the target parking position setting control, the control device guides the vehicle with respect to the target parking position existing on the left side of the vehicle. A left side guidance start command image for commanding start and a right side guidance start command image for commanding start of guidance of the vehicle with respect to the target parking position existing on the right side of the vehicle are displayed side by side on the display device, and the left side guidance is displayed. When either the start command image or the right-side guidance start command image is selected, the guidance control may be started.

  According to the above configuration, even when one of the left and right guidance start command images displayed on the display device is erroneously selected, it is possible to return to the target parking position setting control without stopping the parking assistance. For this reason, it becomes unnecessary to ask the user to perform an operation for starting execution of the target parking position setting control again, and the user's troublesomeness can be reduced.

  The stop command input unit may include a stop command image displayed on the display device during the guidance control. As a result, when one of the left and right guidance start command images is erroneously selected, it is possible to easily return to the target parking position setting control by selecting the stop command image displayed on the display unit thereafter.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to reduce the troublesomeness of the user accompanying resetting of a target parking position.

It is a block diagram which shows the structure of the vehicle carrying the parking assistance apparatus which concerns on one Embodiment of this invention. It is a flowchart of parking assistance control. It is a figure which shows an example of the display screen in periphery display normal control. It is a figure which shows an example of the display screen in target parking position setting control. It is a figure which shows an example of a display screen when the vehicle is stopping or moving forward in automatic steering control. It is a figure which shows an example of the display screen when stopping parking assistance in automatic steering control.

A. One Embodiment [1. Constitution]
(1-1. Overall configuration)
FIG. 1 is a block diagram showing a configuration of a vehicle 10 (hereinafter also referred to as “own vehicle 10”) equipped with a parking assist device 12 according to an embodiment of the present invention.

  The parking assist device 12 of the present embodiment assists the parking of the vehicle 10 by performing automatic steering. That is, the steering assisting device 12 is automatically operated by the parking assist device 12, while the driver operates the accelerator pedal, the brake pedal (not shown), and the shift lever 38. The parking assist device 12 automatically performs the operation of the accelerator pedal and the brake pedal (driving and braking of the vehicle 10) and the operation of the shift lever 38 (switching between forward and backward movement of the vehicle 10) in addition to the operation of the steering 68. There may be.

  As shown in FIG. 1, the parking assistance device 12 includes a sensor group 14 that detects various detection values used in parking assistance control, a navigation device 16, and a parking assistance electronic control device 18 (hereinafter referred to as “parking assistance ECU 18” or “ "ECU 18"), an electric power steering system 20 (hereinafter referred to as "EPS system 20"), and a screen changeover switch 22.

(1-2. Sensor group 14)
As shown in FIG. 1, the sensor group 14 includes a front camera 30f, a rear camera 30rr, a left side camera 30l and a right side camera 30rt, wheel sensors 32rl and 32rr, a vehicle speed sensor 34, and a shift position sensor 36. included.

  The cameras 30f, 30rr, 30l, and 30rt output a peripheral image Is obtained by imaging the periphery of the vehicle 10. In the following, the peripheral image Is captured by the front camera 30f is referred to as “front image If”, the peripheral image Is captured by the rear camera 30rr is referred to as “rear image Irr”, and the peripheral image Is captured by the left camera 30l is referred to as “left side”. The side image Il ”and the peripheral image Is captured by the right side camera 30rt are referred to as“ right side image Irt ”. The left side image Il and the right side image Irt are also collectively referred to as a side image Isd.

  Each of the wheel sensors 32rl and 32rr is an angle sensor or a displacement sensor that detects a rotation angle θw [deg] of a wheel (not shown), and outputs a detection pulse every time the wheel rotates by a predetermined angle. The detection pulse can be used to calculate the wheel rotation angle θw (that is, the movement distance) and the wheel rotation speed [rpm]. The wheel sensor 32 rl detects the rotation angle θw of the left rear wheel (hereinafter also referred to as “rotation angle θwrl”), and the wheel sensor 32 rr detects the rotation angle θw of the right rear wheel (hereinafter also referred to as “rotation angle θwrr”). Is detected.

  The vehicle speed sensor 34 detects the speed (hereinafter referred to as “vehicle speed V”) [km / h] of the vehicle body (not shown) of the vehicle 10 and outputs it to the parking assist ECU 18. The vehicle speed sensor 34 detects the vehicle speed V based on, for example, rotation of a transmission countershaft.

  The shift position sensor 36 detects and outputs the position of the shift lever 38 (hereinafter referred to as “shift position Ps”).

(1-3. Navigation device 16)
The navigation device 16 detects the current position of the vehicle 10 using GPS (Global Positioning System), and guides the route to the destination for the user (including the driver). The navigation device 16 has a storage device (not shown) having a map information database.

  The navigation device 16 includes a touch panel 40 and a speaker 42. The touch panel 40 functions as an input device and a display device for the parking assistance device 12. The user inputs a command regarding parking assistance via the touch panel 40. In addition, a screen related to parking assistance is displayed on the touch panel 40. As will be described later, components other than the touch panel 40 may be used as an input device or a display device. In parking assistance, voice guidance is provided via the speaker 42.

(1-4. Parking support ECU 18)
As shown in FIG. 1, the ECU 18 includes an input / output unit 50, a calculation unit 52, and a storage unit 54 as hardware. The calculation part 52 of this embodiment performs parking assistance control by controlling each part based on the program memorize | stored in the memory | storage part 54 (it mentions later for details).

(1-5. EPS system 20)
The EPS system 20 includes a rudder angle sensor 60, a torque sensor 62, an EPS motor 64, a resolver 65, and an EPS electronic control device 66 (hereinafter referred to as “EPS ECU 66”).

  The steering angle sensor 60 detects the steering angle θst of the steering 68. The torque sensor 62 detects a torque TQ applied to the steering 68.

  The EPS motor 64 applies a driving force or a reaction force to the steering column 70 connected to the steering 68, thereby enabling the driver to assist the operation of the steering 68 and automatic steering during parking assistance. The resolver 65 detects the rotation angle θm of the EPS motor 64.

  The EPS ECU 66 controls the entire EPS system 20 and has an input / output unit, a calculation unit, and a storage unit (all not shown) as hardware, like the parking assist ECU 18.

(1-6. Screen switch 22)
The screen changeover switch 22 is a push button switch for switching the viewpoint or visual field range of the display screen 100 (FIG. 3, etc.) of the touch panel 40.

[2. Various controls]
(2-1. Overview of various controls in this embodiment)
The parking assistance device 12 of the present embodiment performs peripheral display normal control (hereinafter also referred to as “normal control”) and parking assistance control. The normal control is control for displaying the peripheral image Is on the touch panel 40 without parking assistance. The parking support control is a control that performs parking support of the vehicle 10.

  Normal control is started by turning on the screen changeover switch 22. Alternatively, it may be started by selecting a specific option from a plurality of options in the initial screen displayed on the touch panel 40 when the navigation device 16 is activated. The plurality of options include, for example, route guidance, audio, camera, and various settings, and normal control is started when “camera” is selected. Alternatively, the normal control may be started when the shift position Ps enters the R (reverse) range. Alternatively, normal control may be started by turning on a dedicated switch (normal control start switch) for starting normal control. The display screen 100 of the touch panel 40 in the normal control will be described later with reference to FIG.

  The parking assistance control of the present embodiment mainly includes two controls of target parking position setting control and automatic steering control. The target parking position setting control is control for setting the target parking position Pptar of the vehicle 10. The automatic steering control is a control for automatically operating the steering 68 so that the vehicle 10 reaches the target parking position Pptar. Automatic operation of the steering 68 is performed by the EPS ECU 66 controlling the EPS motor 64.

(2-2. Overview of parking support control)
FIG. 2 is a flowchart of parking support control. In step S1, the parking assistance ECU 18 determines whether or not a parking assistance control start condition is satisfied. As the start condition, for example, it can be used that the parking support start button 102a (FIG. 3) displayed on the touch panel 40 of the navigation device 16 is pressed or selected. In addition, the vehicle speed V may be set as a start condition that is below a predetermined threshold (hereinafter referred to as “first vehicle speed threshold THv1”). When the parking assistance control start condition is satisfied (S1: YES), the process proceeds to step S2, and when the start condition is not satisfied (S1: NO), the process is restarted from step S1 after a predetermined time.

  In step S2, the ECU 18 executes target parking position setting control for setting the target parking position Pptar of the vehicle 10. In subsequent step S3, the ECU 18 determines whether or not a start condition for the automatic steering control is satisfied. As the start condition, for example, one of the automatic steering start buttons 128a and 128b (hereinafter also referred to as “start buttons 128a and 128b”) (FIG. 4) displayed on the touch panel 40 of the navigation device 16 is pressed. Can be used. In addition, the vehicle speed V may be a predetermined condition (hereinafter referred to as “second vehicle speed threshold value THv2”) or less.

  When the automatic steering control start condition is satisfied (S3: YES), the ECU 18 executes automatic steering control (S4) for automatically operating the steering 68 so that the vehicle 10 reaches the target parking position Pptar. Automatic operation of the steering 68 is performed by the EPS ECU 66 controlling the EPS motor 64.

(2-3. Peripheral display normal control)
In the peripheral display normal control, when the shift position Ps is other than R and the vehicle 10 is stopped or moving forward, four display formats are switched. That is, the display screen 100 including the combination of the front image If and the overhead image Ig, the display screen 100 including the front image If expanded left and right, the display screen 100 including the right side image Irt, the left side image Il and the right side The display screen 100 including the combination of the images Irt is switched.

  In the peripheral display normal control, when the shift position Ps is at R and the vehicle 10 is moving backward, the three display formats are switched. That is, the display screen 100 including the combination of the rear image Irr and the overhead image Ig, the display screen 100 including the rear image Irr, and the display screen 100 including the rear wide image (not shown) are switched.

  These images can be switched every time the screen switch 22 is pressed. Alternatively, switching can be performed by selecting a predetermined operation button (for example, the operation buttons 102b to 102d in FIG. 3) displayed on the display screen 100 as will be described later.

  FIG. 3 is a diagram showing an example of the display screen 100 in the peripheral display normal control (hereinafter also referred to as “peripheral display normal control screen 100a” or “normal display screen 100a”). That is, the normal display screen 100a includes a plurality of operation buttons 102a to 102e, a warning message 104, a traveling direction image area 106, and an overhead image area 108.

  The operation button 102a is a button for starting parking support, and is also referred to as a parking support start button 102a below. The operation buttons 102b to 102d are buttons for switching an image (viewpoint or visual field range) displayed on the display screen 100 of the touch panel 40. The operation button 102e is a button (end button) for ending the peripheral display normal control.

  The alert message 104 informs the driver of contents to be noted at that time. In the example of FIG. 3, in order to prompt confirmation of the surroundings before the accelerator pedal is depressed to advance the vehicle 10, the characters “please check the surroundings directly” are displayed.

  The traveling direction image area 106 displays a peripheral image Is corresponding to the traveling direction of the vehicle 10. That is, when the vehicle 10 moves forward, the peripheral image Is such as the front image If from the front camera 30f is switched and displayed according to the operation buttons 102b to 102d. When the vehicle 10 moves backward, the peripheral image Is such as the rear image Irr from the rear camera 30rr is switched and displayed according to the operation buttons 102b to 102d.

  The overhead image area 108 displays an overhead image Ig of the vehicle 10 obtained by performing image processing on the front image If, the rear image Irr, the left side image Il, and the right side image Irt. The overhead image area 108 includes a host vehicle image 110 showing the vehicle 10. All of the display screens 100 of FIGS. 3 to 6 include the overhead image area 108, but the relative position, orientation, and display magnification of the vehicle image 110 in the overhead image area 108 remain fixed. The display range of 108 changes.

  As shown in FIG. 3, a first guide line 112 as a guide image is superimposed on the traveling direction image region 106 and the overhead image region 108. The 1st standard guide line 112 is an image which consists of a line displayed corresponding to the advancing direction front of vehicles 10 or self-vehicles image 110, and is yellow in this embodiment. The first guide line 112 is used when aligning with various target stop position images (a target parking position image 144 described later), and has the same width as the target stop image.

  Further, the traveling direction image area 106 and the overhead image area 108 in FIG. 3 include a white line 114 as a part of the peripheral image Is (captured by the cameras 30l and 30rt). The white line 114 is a line for dividing the parking space.

(2-4. Target parking position setting control)
When the parking assistance start button 102a is pressed on the normal display screen 100a (FIG. 3), the parking assistance ECU 18 displays the display screen 100 during the target parking position setting control (hereinafter referred to as “target parking position setting screen 100b” or “target setting screen 100b”). ").

  FIG. 4 is a diagram illustrating an example of the display screen 100 (target setting screen 100b) in the target parking position setting control. In the target setting screen 100b, in addition to the alert message 104 and the overhead image area 108 that are the same as those in the normal display screen 100a, an inactive parking support mark 120, a progress explanation bar 122, and an operation guidance message 124 are displayed. Parking type selection tabs 126a and 126b including automatic steering start buttons 128a and 128b, an automatic detection button 130, and a stop button 132 are included.

  The parking assistance mark 120 is active and darkly displayed during execution of automatic steering control, and is inactive and lightly displayed during execution of target parking position setting control, thereby indicating the progress of parking assistance.

  The progress explanation bar 122 is a bar for explaining the progress of parking support. The progress explanation bar 122 includes an area including characters “setting” indicating that the target parking position Pptar is being set, an area including characters “assist” indicating that automatic steering is being performed, and parking assistance. It consists of an area containing the characters “End” indicating the end of the. Of these areas, the area corresponding to the control being performed at that time is displayed more emphasized (for example, in a different color) than the other areas.

  The operation guidance message 124 informs the driver of the movement that the vehicle 10 should perform. In the example of FIG. 4, in order to inform that automatic steering is started by selecting either of the automatic steering start buttons 128a and 128b, the characters “park in the green frame at [Start]” are displayed. The The “green frame” here refers to the candidate position image 134 displayed in the overhead image area 108.

  The parking type selection tabs 126a and 126b (hereinafter also referred to as “selection tabs 126a and 126b” or “tabs 126a and 126b”) are tabs for selecting the type of parking from back parking (parallel parking) or parallel parking. . Each tab 126a, 126b includes two automatic steering start buttons 128a, 128b (hereinafter also referred to as “start buttons 128a, 128b”). The selection tabs 126a and 126b and the start buttons 128a and 128b are all in a selectable state (active state).

  In the bird's-eye view image area 108 in FIG. 4, candidate position images 134 are displayed on the left side and the right side of the vehicle image 110 in addition to the vehicle image 110 and the first guide line 112. The candidate position image 134 is an image indicating a candidate position Ppc that is a candidate for the target parking position Pptar. When the left automatic steering start button 128a is selected by the user, the candidate position Ppc corresponding to the left candidate position image 134 is set as the target parking position Pptar, and automatic steering is started. When the right automatic steering start button 128b is selected by the user, the candidate position Ppc corresponding to the right candidate position image 134 is set as the target parking position Pptar, and automatic steering is started.

  The automatic detection button 130 is a button for setting whether or not to automatically detect a target parking position Pptar candidate (candidate position Ppc). In other words, when the automatic detection button 130 is on, the ECU 18 detects the candidate position Ppc based on the left side image Il and the right side image Irt, and displays the candidate position image 134 corresponding to the detected candidate position Ppc. To do. For this reason, the relative position of the vehicle image 110 and the candidate position image 134 changes in the overhead image area 108.

  On the other hand, when the automatic detection button 130 is off, the ECU 18 fixes and displays the position of the candidate position image 134 with respect to the vehicle image 110. Thus, the user aligns the candidate position image 134 with the position where the vehicle 10 (the own vehicle image 110) is to be parked in the overhead image area 108 while actually driving the vehicle 10.

  The stop button 132 is a button for ending parking assistance.

(2-5. Automatic steering control)
(2-5-1. Canceling parking support and resetting the target parking position Pptar)
Next, the control (S11 to S16 in FIG. 2) related to the cancellation of parking support and the resetting of the target parking position Pptar in the automatic steering control will be described. In the automatic steering control, other controls (controls other than S11 to S16) are also executed. 5 and 6 are diagrams showing a first example and a second example of the display screen 100 in the automatic steering control.

  In step S11 of FIG. 2, the parking assist ECU 18 determines whether the vehicle 10 is in a stopped state after the automatic steering control is started (in other words, whether the vehicle 10 has never moved). To do. This determination is performed based on, for example, whether or not the movement distance of the vehicle 10 after the start of automatic steering is equal to or less than a distance threshold (for example, any value of 0 to 20 cm). Or it is also possible to perform based on whether the vehicle speed V exceeds the vehicle speed threshold value (for example, any value of 0-5 km / h). Alternatively, the depression force of a brake pedal (not shown) does not fall below the first depression force threshold, the depression force of an accelerator pedal (not shown) does not exceed the second depression force threshold, and the operation amount of the brake pedal falls below the first operation amount threshold. It is also possible to use that the operation amount of the accelerator pedal is not greater than the second operation amount threshold.

  In step S11, when the vehicle 10 is continuing the stop state after the start of the automatic steering control (S11: YES), in step S12, the ECU 18 determines whether or not the stop button 132 (FIG. 5) is turned on. judge. If the cancel button 132 remains off (S12: NO), the process returns to step S11. When the stop button 132 is turned on (S12: YES), the ECU 18 stops the automatic steering control, returns to step S2, and resumes the target parking position setting control. Thereby, for example, when the user wants to reset the target parking position Pptar, it is possible to quickly respond.

  Returning to step S11, if the vehicle 10 is not continuing the stop state after the start of the automatic steering control (S11: NO), in step S13, the ECU 18 determines whether or not the stop button 132 is turned on. When the stop button 132 is turned on (S13: YES), in step S14, the ECU 18 stops parking assistance. In this case, after the display screen 100 as shown in FIG. 6 is displayed, for example, road guidance (route guidance) by the navigation device 16 is enabled. That is, the ECU 18 communicates with the navigation device 16 and permits the navigation device 16 to use the touch panel 40. Alternatively, the initial screen displayed on the touch panel 40 when the navigation device 16 is activated may be displayed so that a plurality of options for executing various functions can be selected. Examples of the plurality of options include road guidance (route guidance), audio, camera, and various settings. Here, the “camera” is control for displaying a display screen 100 similar to the display screen 100 in the vehicle speed dependent display control.

  If the stop button 132 is off in step S13 (S13: NO), in step S15, the ECU 18 determines whether or not other stop conditions related to parking assistance are satisfied. As the determination, for example, the fact that the user has operated the steering 68 (in other words, the steering angle θst of the steering 68 has changed by a predetermined threshold (steering angle threshold THθst) or more) can be used. Or you may use that the vehicle speed V exceeded the predetermined threshold as the said determination.

  When other stop conditions are satisfied (S15: YES), the process proceeds to step S14, and the ECU 18 stops the parking support as described above. When other stop conditions are not satisfied (S15: NO), the process proceeds to step S16, and the ECU 18 determines whether or not the automatic steering is completed. If the automatic steering is not completed (S16: NO), the process returns to step S13. If the automatic steering is completed (S16: YES), the current process is terminated.

(2-5-2. Display screen 100 in automatic steering control)
(2-5-2-1. Switching of display screen 100)
When any one of the automatic steering start buttons 128a and 128b is pressed or selected by the user on the target setting screen 100b (FIG. 4), the parking assist ECU 18 uses the display screen 100 during the automatic steering control (hereinafter referred to as the display screen 100). "Automatic steering screen 100c").

  In the automatic steering control, the display format is switched depending on whether the vehicle 10 is in a stopped or forward state or a reverse state. Whether the vehicle 10 is in a stopped state or a forward state is determined by, for example, the shift position Ps being other than R. Whether the vehicle 10 is in the reverse state is determined by, for example, the shift position Ps being R.

(2-5-2-2. Display screen 100 when vehicle 10 stops or moves forward)
FIG. 5 is a diagram illustrating an example of a display screen 100 when the vehicle 10 is stopped or moving forward in automatic steering control (hereinafter referred to as “stop / forward automatic steering screen 100c” or “automatic steering screen 100c”). It is. The automatic steering screen 100c of FIG. 5 is an example of a screen when the vehicle 10 or the vehicle image 110 is moving forward toward the target turning position image 142 indicating the target turning position Pttar.

  On the automatic steering screen 100c, in addition to the alert message 104, the overhead image area 108, the parking support mark 120, the progress explanation bar 122, the operation guidance message 124, and the stop button 132 similar to the target setting screen 100b of FIG. A direction image area 140 is included.

  When the automatic steering control is entered, the parking assistance mark 120 is activated, and the text “Assist” is highlighted in the progress explanation bar 122. As the operation guidance message 124 when the vehicle 10 moves forward during automatic steering control, for example, the phrase “Please move forward to the blue frame” is used. The “blue frame” here refers to the target cut-back position image 142 included in the overhead image area 108.

  The traveling direction image area 140 displays a peripheral image Is in the traveling direction of the vehicle 10. That is, the front image If is displayed when the vehicle 10 stops or moves forward (or when the shift position Ps is other than R), and the rear image Irr when the vehicle 10 moves backward (or when the shift position Ps is R). Is displayed. In addition, as shown in FIG. 5, the target turn position image 142 is displayed in the traveling direction image area 140 in addition to the first guide line 112. The target turn-back position image 142 is an image composed of a line indicating the target turn-back position Pttar as the target stop position, and is blue in this embodiment.

  In the bird's-eye view image area 108 in FIG. 5, a target parking position image 144 and a traveling direction image 146 are shown in addition to the own vehicle image 110, the first guideline guide line 112, and the target turn-back position image 142. The target parking position image 144 is a rectangular image indicating the target parking position Pptar set by the target parking position setting control, and is the same green as the candidate position image 134 (FIG. 4) in this embodiment.

  The traveling direction image 146 is an arrow-shaped image indicating the traveling direction of the vehicle 10 (own vehicle image 110). In the present embodiment, the target stop position at that time (that is, the target switching position Pttar or the target parking position Pptar). Is the same color. For example, in the example of FIG. 5, when the vehicle 10 (the vehicle image 110) is moving forward toward the target turn-back position Pttar (target turn-back position image 142), the traveling direction image 146 is the same as the target turn-back position image 142. Displayed in blue. Further, when the vehicle 10 moves backward toward the target parking position Pptar, the traveling direction image 146 is displayed in the same green as the target parking position image 144.

(2-5-2-3. Display screen 100 when parking support is canceled)
When a stop condition such as the stop button 132 being turned on in automatic steering control is satisfied (S13: YES or S15: YES in FIG. 2), the parking support ECU 18 stops parking support (automatic steering control). At this time, the ECU 18 switches to the display screen 100 when stopping parking assistance (hereinafter referred to as “screen 100d when stopped”).

  FIG. 6 is a diagram illustrating an example of a display screen 100 (stop screen 100d) when parking assistance is canceled in automatic steering control. In the stop screen 100d, in addition to the alert message 104, the overhead image area 108, the parking support mark 120, the progress explanation bar 122, the operation guidance message 124, and the traveling direction image area 140 similar to the automatic steering screen 100c of FIG. A normal control execution button 150 is included.

  As the operation guidance message 124 at the time of parking support cancellation, for example, the wording “stop assist” is used. Here, “assist” means automatic steering.

  The normal control execution button 150 is a button for executing the peripheral display normal control (FIG. 3).

[3. Effects of this embodiment]
According to the present embodiment as described above, the following effects can be obtained. For example, in a configuration in which there is no operation button or the like for resetting the target parking position Pptar, the cancel button 132 (cancel is also issued when the user requests resetting of the target parking position Pptar instead of canceling parking support. It is necessary to perform an input operation on the command input unit). According to the present embodiment, when there is an input to the stop button 132 immediately after switching from the target parking position setting control to the automatic steering control (guidance control), the parking assistance is not stopped and the process returns to the target parking position setting control ( In FIG. 2, S11: YES → S12: YES → S2). For this reason, it becomes unnecessary to ask the user for an operation for starting execution of the target parking position setting control again. Therefore, it is possible to reduce the troublesomeness of the user.

  In the present embodiment, when the target parking position setting control is switched to the automatic steering control (guidance control), the parking assist ECU 18 (control device) determines whether or not the stop state of the vehicle 10 is continuing in step S11 of FIG. By determining whether or not the user has no reset intention, which is an intention to reset the target parking position Pptar. Then, before determining that there is no reset intention (S11: YES), if there is an input to the stop button 132 (stop command input unit) (S12: YES), the ECU 18 does not stop the parking support and stops the target parking. Return to position setting control (S2). Further, when it is determined in step S11 that the stop state of the vehicle 10 is not continued and it is determined that there is no reset intention (S11: NO), when there is an input to the stop button 132 (S13: YES), the ECU 18 Stops parking support (S14).

  Thereby, even if it is input to the same stop button 132 (stop command input part), according to a user's intention, resetting of the target parking position Pptar (S12: YES-> S2) or stop of parking assistance (S13: YES → S14) can be performed.

  In the present embodiment, the parking assist ECU 18 (control device) starts the automatic steering control (guidance control) (S3: YES), and the stop button 132 (S11: YES) when the vehicle 10 has never moved (S11: YES). When there is an input to the stop command input unit (S12: YES), the parking support is not stopped and the process returns to the target parking position setting control (S2).

  When there is an input to the stop button 132 when the vehicle 10 has never moved after the start of automatic steering control (guidance control), the user is requesting resetting of the target parking position rather than stopping parking assistance. The possibility is considered high. According to the above configuration, it is possible to improve the convenience of the user by taking a response according to the user's intention.

  In the present embodiment, the parking assistance device 12 includes a touch panel 40 (display device) that displays a parking assistance display screen 100 (guidance screen). In the target parking position setting control, the parking assist ECU 18 (control means) includes an automatic steering start button 128a (left-side guidance start command image) that commands the start of guidance of the vehicle 10 with respect to the target parking position Pptar existing on the left side of the vehicle 10. Then, an automatic steering start button 128b (right guidance start command image) for commanding the start of guidance of the vehicle 10 with respect to the target parking position Pptar existing on the right side of the vehicle 10 is displayed side by side on the touch panel 40 (FIG. 4). When either the start button 128a or 128b is selected (S3: YES in FIG. 2), automatic steering control (guidance control) is started (S4).

  According to the above configuration, even when one of the left and right start buttons 128a and 128b displayed on the touch panel 40 is erroneously selected, it is possible to return to the target parking position setting control without stopping the parking assistance. For this reason, it becomes unnecessary to ask the user to perform an operation for starting execution of the target parking position setting control again, and the user's troublesomeness can be reduced.

  The stop button 132 (stop command input unit) of the present embodiment is an image (stop command image) displayed on the touch panel 40 (display device) during automatic steering control (guidance control) (FIG. 5). As a result, when one of the left and right start buttons 128a and 128b (guidance start command image) is selected incorrectly, the target parking position setting control can be easily performed by selecting the stop button 132 displayed on the touch panel 40 thereafter. It is possible to return.

B. Modifications It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted based on the description of the present specification. For example, the following configuration can be adopted.

[1. Applicable to]
In the above embodiment, the case where the parking assist device 12 is mounted on the vehicle 10 has been described. For example, from the viewpoint of resetting the target parking position Pptar (target stop position), a moving body other than the vehicle 10 (for example, It is also possible to use the parking assist device 12 (stop assist device) for a ship.

[2. Cameras 30f, 30rr, 30l, 30rt (imaging means)]
In the above embodiment, the cameras 30f, 30rr, 30l, and 30rt are used as the imaging means for capturing the peripheral image Is. However, for example, from the viewpoint of resetting the target parking position Pptar (target stop position), it is also possible to provide only the left side camera 30l and the right side camera 30rt. Alternatively, the present invention can be applied to the case where the target parking position Pptar is set without using any of the cameras 30f, 30rr, 30l, and 30rt.

[3. Touch panel 40 (input means and display means)]
In the said embodiment, the touch panel 40 of the navigation apparatus 16 was used as what also serves as an input means and a display means. However, for example, from the viewpoint of inputting a user command to the parking assistance device 12, the touch panel 40 may not be the navigation device 16. Further, input means other than the touch panel 40 (dedicated buttons, voice input devices, etc.) may be used.

  Furthermore, for example, from the viewpoint of displaying the display screen 100, display means other than the touch panel 40 (for example, a multi-information display (MID) or a head-up display (HUD)) may be used.

[4. Target parking position setting control]
In the target parking position setting control of the above embodiment, a position (candidate position Ppc) that can be the target parking position Pptar is displayed on the touch panel 40 as a candidate position image 134 (FIG. 4). However, for example, from the viewpoint of setting the target parking position Pptar, the present invention is not limited to this. For example, by driving the driver, the vehicle 10 is moved to a predetermined position with respect to the target parking position Pptar (for example, a position where a line at one end of the target parking position Pptar (parking frame) comes on an extension line of a side mirror (not shown)). It is also possible to set the target parking position Pptar.

  In the above-described embodiment, the cancel button 132 for instructing the parking assistance to be canceled is a button for resetting the target parking position Pptar (a button for returning to the target parking position setting control) only immediately after the start of automatic steering control (guidance control). Used as. However, for example, from the viewpoint of resetting the target parking position Pptar, it is also possible to provide a reset button for the target parking position Pptar in addition to the stop button 132 for instructing to stop parking support.

[5. Automatic steering control]
In the above embodiment, automatic steering control (control for automatically operating the steering 68) is used as control for guiding the vehicle 10 to the target parking position Pptar set in the target parking position setting control. However, for example, if attention is paid to resetting of the target parking position (target stop position), other guidance control can be used. As such guidance control, for example, automatic parking control (control for automatically performing acceleration, braking, shifting, and steering) can be used.

[6. Display screen 100]
(6-1. Parking type selection tabs 126a and 126b (parking type selection image))
In the said embodiment, back parking (parallel parking) and parallel parking were selectable as the kind of parking guided by parking assistance. However, other types of parking (for example, diagonal parking) can be selected. It is also possible to select only one of back parking and parallel parking. In this case, the display of both the parking type selection tabs 126a and 126b can be omitted.

  Furthermore, it is also possible to select the type of parking using input means other than the display on the display screen 100 (for example, a dedicated operation button provided on a part other than the display screen 100 (for example, the steering 68)).

(6-2. Automatic steering start buttons 128a and 128b (guidance start image))
In the above embodiment, the automatic steering start buttons 128a and 128b are used as the guidance start images for instructing the guidance start to the target parking position Pptar (FIG. 4). However, for example, when the target parking position Pptar can be set for only one of the left and right sides (particularly, only the left side in a left-handed country and only the right side in a right-handed country), only one of the start buttons 128a and 128b may be used. Is possible.

  Furthermore, a command to start guidance to the target parking position Pptar is input using input means other than the display on the display screen 100 (for example, a dedicated operation button provided on a part other than the display screen 100 (for example, the steering 68)). It is also possible.

(6-3. Cancel button 132 (stop command input part))
In the embodiment described above, the cancel button 132 in the display screen 100 (automatic steering screen 100c) is used as a cancel command input unit for inputting a parking support cancel command (FIG. 5). However, for example, from the viewpoint that the configuration for instructing the parking assistance cancellation is used for resetting the target parking position Pptar immediately after the start of the automatic steering control (guidance control), the other configuration is canceled. It can be used as a command input unit. For example, the screen changeover switch 22 (FIG. 1) may be used as a stop command input unit. Alternatively, in the case of a configuration including a voice recognition device, the voice recognition device can be used as a stop command input unit.

  In the above-described embodiment, the stop button 132 for instructing the parking assistance to be canceled is the button for resetting the target parking position Pptar while the vehicle 10 is in the stop state after the start of the automatic steering control (guidance control). Used as a button to return to the target parking position setting control). However, for example, from the viewpoint of determining whether the user has an intention to reset the target parking position Pptar (reset intention), it is possible to use conditions other than the continuation of the stop state of the vehicle 10. . For example, the stop button 132 can be used as a button for returning to the target parking position setting control until a predetermined period has elapsed after the start of automatic steering control (guidance control).

  In the above-described embodiment, the cancel button 132 for instructing the parking assistance to be canceled is set to the target parking position Pptar reset button (target parking position setting) after the start of automatic steering control (guidance control) until a specific condition is satisfied. Used as a button to return to control. However, for example, if the stop button 132 is regarded as a means for returning to the target parking position setting control, the stop button 132 may be used to return to the target parking position setting control in the entire automatic steering control. In such a case, in particular, the present invention can be suitably applied to a configuration including a component (for example, the screen changeover switch 22) for canceling parking support in addition to the cancel button 132.

DESCRIPTION OF SYMBOLS 10 ... Vehicle (own vehicle) 12 ... Parking assistance apparatus 18 ... Parking assistance ECU (control apparatus)
40 ... Touch panel (display device) 100 ... Display screen (guide screen)
128a ... Automatic steering start button (left-side guidance start command image)
128b ... Automatic steering start button (right guidance start command image)
132 ... Cancel button (stop command input part, stop command image)
Pptar ... Target parking position

Claims (5)

A parking assistance device that performs parking assistance for guiding a vehicle to a target parking position,
The parking assist device includes:
A control device that executes target parking position setting control for setting the target parking position and guidance control for guiding the vehicle to the set target parking position when performing the parking support;
A cancellation command input unit for inputting a parking support cancellation command from a user,
When there is an input to the stop command input unit immediately after switching from the target parking position setting control to the guidance control, the control device returns to the target parking position setting control without stopping the parking support. A parking assist device. In the parking assistance device according to claim 1,
When the target parking position setting control is switched to the guidance control, the control device determines whether or not the user has a reset intention that is an intention to reset the target parking position;
If there is an input to the stop command input unit before determining that there is no intention of resetting, the control device returns to the target parking position setting control without stopping the parking support,
If it is determined that the reset intention is not present and the stop command input unit receives an input, the control device stops the parking support. In the parking assistance device according to claim 1 or 2,
When the vehicle has never moved after the start of the guidance control, the control device performs the target parking position setting control without stopping the parking support when there is an input to the stop command input unit. A parking assistance device characterized by returning. In the parking assistance device according to any one of claims 1 to 3,
The parking assistance device includes a display device that displays the parking assistance guidance screen,
In the target parking position setting control, the control device includes:
Left-side guidance start command image for instructing start of guidance of the vehicle to the target parking position existing on the left side of the vehicle, and right side for instructing start of guidance of the vehicle to the target parking position existing on the right side of the vehicle The guidance start command image is displayed side by side on the display device,
The parking assist device according to claim 1, wherein the guidance control is started when either the left guidance start command image or the right guidance start command image is selected. In the parking assistance device according to claim 4,
The parking support device, wherein the stop command input unit includes a stop command image displayed on the display device during the guidance control.

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