JP2016175610A - Parking assist device, parking assist method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To guide a vehicle to a parking location where opening/closing of the respective doors of the own vehicle and an adjacent vehicle is optimum.SOLUTION: A parking assist device is mounted in a vehicle, and acquires vehicle information for one or more adjacent vehicles present adjacent to a location where the own vehicle is to be parked. Then, on the basis of a distance for opening/closing of the doors of the own vehicle and a distance for the opening/closing of the doors of the adjacent vehicle, included in the vehicle information, the parking assist device derives a parking interval distance between the own vehicle and the adjacent vehicle. On the basis of the parking interval distance derived by the distance deriving part, the device informs of the parking location for the own vehicle. Accordingly, the own vehicle can be guided to be parked at the location where the opening/closing of the doors after packing is not affected.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a technique for supporting parking of a vehicle.

  There is known an apparatus that assists a driver in parking a vehicle by displaying an image behind the vehicle. The vehicle parking assistance apparatus described in Patent Literature 1 displays on the display unit of the navigation device an image taken by the back camera and a position corresponding to the tip of the back door when the back door of the vehicle is fully opened. Is. Thereby, even when the back door is opened and closed after parking, the vehicle can be guided to a position where the back door can be freely opened and closed.

JP 2010-260494 A

  The vehicle parking assistance apparatus of Patent Document 1 determines whether or not there is a stationary obstacle within the open / close drive range of the back door of the host vehicle. Therefore, although the back door of the own vehicle can be freely opened and closed, the back door of the vehicle parked behind the own vehicle may not be freely opened and closed. In addition, this may cause a contact accident when the back door of the rear vehicle is opened.

  Examples of the problem to be solved by the present invention are as described above. The main object of the present invention is to provide a parking assist device that can guide a vehicle to a parking position that is suitable for opening and closing the doors of both the host vehicle and the adjacent vehicle.

  The invention described in the claims is a parking support device, a vehicle information acquisition unit that acquires vehicle information of one or more adjacent vehicles that are adjacent to a planned parking position of the host vehicle, and a door of the host vehicle. A distance deriving unit for deriving a distance between parked vehicles of the host vehicle and the adjacent vehicle based on a distance related to opening and closing and a distance related to opening and closing of the door of the adjacent vehicle included in the vehicle information; and And a notifying unit for notifying the parking position of the host vehicle based on the derived distance between parked vehicles.

  The invention described in the claims is a parking support method executed by an in-vehicle device, and a vehicle information acquisition step of acquiring vehicle information of one or more adjacent vehicles existing adjacent to a planned parking position of the host vehicle; A distance deriving step of deriving a distance between the parked vehicle and the adjacent vehicle based on a distance related to opening and closing of the door of the own vehicle and a distance related to opening and closing of the door of the adjacent vehicle included in the vehicle information; And a notifying step of notifying the parking position of the host vehicle based on the distance between the parked vehicles derived by the distance deriving step.

  The invention described in the claims is a program executed by an in-vehicle device including a computer, and a vehicle information acquisition unit that acquires vehicle information of one or more adjacent vehicles existing adjacent to a planned parking position of the host vehicle, A distance deriving unit for deriving a distance between the parked vehicle and the adjacent vehicle based on a distance related to opening and closing of the door of the own vehicle and a distance related to opening and closing of the door of the adjacent vehicle included in the vehicle information; The computer is caused to function as an informing unit for informing a parking position of the host vehicle based on the distance between parked vehicles derived by the distance deriving unit.

It is a block diagram which shows schematic structure of the navigation apparatus which concerns on an Example. The situation which performs parking assistance by the 1st example is shown typically. The example of a display of the parking guideline by 1st Example is shown. It is a flowchart of the parking assistance process by 1st Example. The situation which performs parking assistance by the 2nd example is shown typically. The example of a display of the parking guideline by 2nd Example is shown. It is a figure explaining the opening-and-closing distance of a side door and a back door.

  In a preferred embodiment of the present invention, the parking support device includes a vehicle information acquisition unit that acquires vehicle information of one or more adjacent vehicles that are adjacent to a planned parking position of the host vehicle, and opens and closes the door of the host vehicle. And a distance deriving unit for deriving a distance between parked vehicles of the host vehicle and the adjacent vehicle based on a distance related to opening and closing of the door of the adjacent vehicle included in the vehicle information, and derived by the distance deriving unit A notification unit that notifies the parking position of the host vehicle based on the distance between the parked vehicles.

  Said parking assistance apparatus is mounted in a vehicle, and acquires the vehicle information of the 1 or more adjacent vehicle which adjoins the parking plan position of the own vehicle. Next, based on the distance related to the opening / closing of the door of the own vehicle and the distance related to the opening / closing of the door of the adjacent vehicle included in the vehicle information, the distance between the own vehicle and the adjacent vehicle is derived. And the parking position of the said own vehicle is alert | reported based on the distance between parked vehicles derived | led-out by the said distance derivation | leading-out part. Thereby, it is possible to guide the vehicle to park at a position where there is no hindrance to opening and closing the door after parking.

  In one aspect of the above parking assist device, the distance deriving unit is the longer of the distance related to opening / closing of the door of the own vehicle and the distance related to opening / closing of the door of the adjacent vehicle, or the distance of the own vehicle The sum of the distance related to the opening / closing of the door and the distance related to the opening / closing of the door of the adjacent vehicle is defined as the distance between the parked vehicle and the adjacent vehicle. In this aspect, when the longer distance between the distance related to the opening / closing of the door of the own vehicle and the distance related to the opening / closing of the door of the adjacent vehicle is set as the inter-parking vehicle distance, The door can be opened and closed freely. Further, when the sum of the distance related to opening / closing of the door of the own vehicle and the distance related to opening / closing of the door of the adjacent vehicle is set as the distance between the parking vehicles, the doors of the own vehicle and the adjacent vehicle can be opened simultaneously.

  Another aspect of the parking assist apparatus includes a receiving unit that receives a vehicle number from each of a plurality of surrounding vehicles existing around the host vehicle, and a photographing unit that captures the vehicle numbers of the plurality of surrounding vehicles. The vehicle information acquisition unit specifies the adjacent vehicle based on the vehicle number received by the reception unit and the vehicle number captured by the imaging unit, and acquires vehicle information of the adjacent vehicle To do. In this aspect, the adjacent vehicle that is the transmission source of the vehicle information can be specified based on the vehicle number.

  According to another aspect of the parking assist apparatus, a current position positioning unit that measures the current position of the host vehicle and a position of the surrounding vehicle are received from each of a plurality of surrounding vehicles existing around the host vehicle. The vehicle information acquisition unit identifies the adjacent vehicle based on the current position of the host vehicle and the position of the surrounding vehicle received by the reception unit, and Get vehicle information. In this aspect, the adjacent vehicle that is the transmission source of the vehicle information can be specified based on the position of the vehicle.

  Another aspect of the parking assist apparatus further includes a detection unit that detects the backward movement of the host vehicle, and the distance deriving unit detects the backward movement of the host vehicle when the detection unit detects the backward movement of the vehicle. Based on the distance necessary for opening and closing the rear door and the distance necessary for opening and closing the rear door of the rear vehicle adjacent to the rear of the host vehicle, the distance between the parked vehicle and the adjacent vehicle is derived. In this aspect, when there is a vehicle behind the planned parking position, the vehicle can be guided to park while maintaining an appropriate distance from the rear vehicle.

  In another preferred embodiment of the present invention, the parking support method executed by the in-vehicle device includes a vehicle information acquisition step of acquiring vehicle information of one or more adjacent vehicles existing adjacent to the planned parking position of the host vehicle. A distance deriving step of deriving a distance between the own vehicle and the adjacent vehicle based on a distance related to opening / closing of the door of the own vehicle and a distance related to opening / closing of the door of the adjacent vehicle included in the vehicle information. And a notifying step of notifying the parking position of the host vehicle based on the distance between the parked vehicles derived by the distance deriving step. Also by this method, it is possible to guide the vehicle to be parked at a position that does not hinder the opening and closing of the door after parking.

  In another preferred embodiment of the present invention, a program executed by an in-vehicle device provided with a computer acquires a vehicle information acquisition unit that acquires vehicle information of one or more adjacent vehicles that are adjacent to a planned parking position of the host vehicle. A distance deriving unit for deriving a distance between the parked vehicle and the adjacent vehicle based on a distance related to opening and closing of the door of the own vehicle and a distance related to opening and closing of the door of the adjacent vehicle included in the vehicle information. Based on the distance between the parked vehicles derived by the distance deriving unit, the computer is caused to function as an informing unit for informing the parking position of the host vehicle. By executing this program, the above-described parking assistance device can be realized. This program can be stored and handled in a storage medium.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[Device configuration]
Hereinafter, an embodiment in which the parking assist device of the present invention is applied to an in-vehicle navigation device will be described.

  FIG. 1 shows a configuration of a navigation device 10 according to the embodiment. The navigation device 10 includes an input unit 11, a display unit 12, an audio output unit 13, a control unit 14, and a GPS 15.

  The input unit 11 includes keys, switches, buttons, a remote controller, a touch panel, and the like for inputting various commands and instructions. The driver 11 inputs settings for performing parking assistance, for example, on / off of parking assistance processing, selection of a notification method to the driver, and the like.

  The display unit 12 is, for example, a liquid crystal display device, and displays a map, a route to a destination, an image taken by a camera, and the like.

  The audio output unit 13 includes a D / A converter that converts digital audio data, an amplifier, a speaker, and the like. The music reproduced by the navigation device 10, audio guidance for route guidance to the destination, and warning sound for the driver Etc. are output.

  The GPS 15 receives positioning data from a plurality of GPS satellites, and detects the current position of the vehicle from latitude and longitude information. In addition, although illustration is abbreviate | omitted in FIG. 1, the navigation apparatus 10 may be provided with self-supporting positioning apparatuses, such as an acceleration sensor, an angular velocity sensor, and a distance sensor. In this case, the navigation device 10 determines the current position of the vehicle using the positioning data from the GPS 15 and the output of the self-supporting positioning device.

  The control unit 14 includes a CPU, a ROM, a RAM, and the like, and controls the entire navigation device 10. Moreover, the control part 14 performs the parking assistance process mentioned later by running the program prepared beforehand.

  Further, the inter-vehicle communication device 21, the rear camera 22, the left side camera 23, the right side camera 24, the sonar 25, and the vehicle shift lever unit 26 are connected to the control unit 14.

  The inter-vehicle communication device 21 performs inter-vehicle communication using, for example, wireless LAN standard 802.11p with surrounding vehicles. By vehicle-to-vehicle communication, vehicle information including the vehicle number (number plate number), vehicle type, current position, and the like of the vehicle can be received from the communication partner vehicle.

  The rear camera 22 is a camera attached to the rear part of the vehicle, captures an image of the rear of the vehicle, and sends it to the control unit 14. The left side camera 23 is a camera attached to the left side surface of the vehicle, takes an image of the left side of the vehicle, and sends it to the control unit 14. The right side camera 24 is a camera attached to the right side of the vehicle, captures an image of the right side of the vehicle, and sends it to the control unit 14. The rear camera 22, the left side camera 23, and the right side camera 24 may be stereo cameras.

  The sonar 25 is attached to the left and right side portions and the rear portion of the vehicle, and detects the distance from an obstacle present on the side and rear of the vehicle by emitting ultrasonic waves. The distance from the detected obstacle is sent to the control unit 14.

  The shift lever unit 26 of the vehicle sends a shift lever signal Ss indicating the position of the shift lever to the control unit 14. Specifically, when the shift lever is at the parking "P" position, a signal indicating the parking position is sent to the control unit 14, and when the shift lever is at the back gear (reverse) "R" position. A reverse signal indicating the back gear position is sent to the control unit 14.

  In the above configuration, the inter-vehicle communication device 21 is an example of the vehicle information acquisition unit and the reception unit of the present invention, the control unit 14 is an example of the distance derivation unit of the present invention, and the display unit 12 and the audio output unit 13 are It is an example of the alerting | reporting part of this invention. The rear camera 22, the left side camera 23, and the right side camera 24 are examples of the imaging unit of the present invention, the GPS 15 is an example of the current position positioning unit of the present invention, and the shift lever unit 26 is the detection unit of the present invention. It is an example.

[Parking assistance]
Next, parking assistance performed by the navigation device 10 will be described.

(First embodiment)
In the first embodiment, when there is a vehicle parked behind the planned parking position (hereinafter referred to as “rear vehicle”), the navigation apparatus 10 is mounted by performing inter-vehicle communication with the rear vehicle. The host vehicle is guided to a position where the back door of the vehicle (hereinafter referred to as “host vehicle”) and / or the rear vehicle can be opened and closed. In addition, a back vehicle is an example of the adjacent vehicle of this invention.

  The situation assumed in the first embodiment is schematically shown in FIG. A plurality of parking areas are partitioned by a white line or the like in the parking lot, and the driver parks the host vehicle 30 at the planned parking position Ps indicated by a broken line. The rear vehicle 40 is already parked behind the planned parking position Ps of the host vehicle 30.

  When the host vehicle approaches the planned parking position Ps and the shift lever of the vehicle is put in the reverse position, the control unit 14 of the navigation device 10 displays the captured image of the rear camera 22 on the display unit 12. Next, the inter-vehicle communication device 21 performs inter-vehicle communication and acquires vehicle information from surrounding vehicles. Here, the “peripheral vehicle” refers to a vehicle in a range in which communication is possible by inter-vehicle communication. Further, it is assumed that the vehicle information to be acquired includes the vehicle number, vehicle type, and current position of each surrounding vehicle.

  When the inter-vehicle communication device 21 can acquire the vehicle information from the surrounding vehicle, the control unit 14 analyzes the captured image of the rear camera 22 and confirms whether there is a rear vehicle behind the planned parking position Ps. . When there is a rear vehicle, the control unit 14 reads the number plate of the rear vehicle from the captured image and acquires the vehicle number.

  When there is a rear vehicle behind the planned parking position Ps, the control unit 14 compares the vehicle number included in the vehicle information received by the inter-vehicle communication with the vehicle number read from the captured image, It is confirmed whether the vehicle information received by the inter-vehicle communication is for the vehicle behind the planned parking position Ps.

  When it is confirmed that the vehicle information received by the inter-vehicle communication is for the vehicle behind the planned parking position Ps, the control unit 14 determines the distance between the parking vehicles (hereinafter referred to as “rear parking vehicle distance”) at which the back door can be opened and closed. The parking guideline indicating the parking position corresponding to the distance between the rear parking vehicles is displayed on the display unit 12. Specifically, the control unit 14 first determines the opening / closing distance of the back door of the rear vehicle based on the vehicle type included in the vehicle information received from the rear vehicle. The “opening / closing distance” refers to a distance (a length of a space to be secured) necessary for opening and closing the door.

  In this case, preferably, the navigation device 10 stores the opening / closing distance of the back door in an internal memory or the like for each vehicle type, and the control unit 14 determines the opening / closing distance of the back door of the rear vehicle by referring to it. To do. Instead of storing the backdoor opening / closing distance for each vehicle type in the internal memory, the standard backdoor opening / closing distance is stored in the internal memory for each vehicle type (sedan, wagon, minivan). The opening / closing distance of the back door of the rear vehicle may be determined with reference to the reference.

  On the other hand, the opening / closing distance of the back door of the host vehicle is stored in advance in the internal memory of the navigation device 10. Therefore, the control unit 14 determines the distance between the rear parking vehicles based on the opening / closing distance of the back door of the rear vehicle and the opening / closing distance of the back door of the host vehicle. Specifically, the control unit 14 determines whether (A) the opening / closing distance of the back door of the host vehicle and the rear vehicle, whichever is longer, or (B) the total opening / closing distance of the back door of the host vehicle and the rear vehicle. Either one is determined as the distance between the rear parking vehicles. Note that which driver is used may be set in advance by the driver.

  When the distance between the rear parking vehicles is determined in this way, the control unit 14 detects the distance between the host vehicle and the rear vehicle based on the output of the sonar 25, and the rear parking is performed from the rear vehicle to the host vehicle side as shown in FIG. A parking guideline 50 indicating the position of the inter-vehicle distance (hereinafter referred to as “appropriate parking position”) is displayed on the display unit 12. For example, when the distance between the host vehicle detected by the sonar 25 and the rear vehicle is “d” and the distance between the rear parking vehicles is determined as “dx”, the control unit 14 (d−dx) backward from the host vehicle. Is determined as an appropriate parking position, and a parking guideline 50 indicating the position is displayed on the display unit 12.

  After that, when the own vehicle moves backward by the driver's operation and exceeds the appropriate parking position indicated by the parking guideline 50, that is, when the distance from the rear vehicle detected by the sonar 25 becomes shorter than the distance between the rear parking vehicles. The control unit 14 notifies the driver of this. This notification is performed by, for example, a method of blinking the parking guideline 50 displayed on the display unit 12 or outputting a warning sound or a voice message.

  Thus, the host vehicle can be guided to a position where the back door can be opened and closed. In addition, when the longer one of (A) the open / close distance of the back door of the host vehicle and the rear vehicle is used as the distance between the rear parking vehicles, either the host vehicle or the rear vehicle can freely open the back door. It can be opened and closed, but the host vehicle and the rear vehicle cannot open the back door at the same time. On the other hand, when (B) the total opening / closing distance of the back door of the host vehicle and the rear vehicle is used as the distance between the rear parking vehicles, the host vehicle and the rear vehicle can simultaneously open the back door.

  FIG. 4 is a flowchart of parking support processing according to the first embodiment. This process is realized by a CPU or the like constituting the control unit 14 executing a prepared program.

  First, the control part 14 acquires the position of a shift lever based on the signal from the shift lever unit 26 of a vehicle (step S10). When the shift lever is put in the position of the back gear (step S11: Yes), the control unit 14 displays the captured image of the rear camera 22 on the display unit 12 (step S12).

  Next, the control unit 14 controls the inter-vehicle communication device 21 to perform inter-vehicle communication with surrounding vehicles, and acquires vehicle information (step S13). When the vehicle information can be acquired from the surrounding vehicle (step S14: Yes), the control unit 14 analyzes the captured image of the rear camera 22, determines the presence or absence of the rear vehicle, and if there is a rear vehicle, the vehicle number. Is acquired (step S15).

  When there is a rear vehicle and the vehicle number acquired by inter-vehicle communication matches the vehicle number of the rear vehicle obtained from the captured image (step S16: Yes), the control unit 14 An appropriate parking position is determined based on the opening / closing distance and the opening / closing distance of the back door of the rear vehicle (step S17). Specifically, the control unit 14 determines the distance between the rear parking vehicles by the above-described method (A) or (B) based on the opening / closing distance of the back door of the host vehicle and the opening / closing distance of the back door of the rear vehicle. , And a position just before the distance between the rear parking vehicles from the position of the rear vehicle is determined as an appropriate parking position. Then, the process proceeds to step S20.

  On the other hand, when the vehicle information of the surrounding vehicle cannot be acquired by the inter-vehicle communication (step S14: No), and the rear vehicle is detected by analyzing the captured image, the vehicle number of the rear vehicle and the inter-vehicle communication When the acquired vehicle number does not match (step S16: No), the control unit 14 determines whether there is an obstacle behind the planned parking position based on the output of the sonar 25 (step S18). ). When there is no obstacle behind the planned parking position (step S18: No), the control unit 14 ends the process.

  On the other hand, when there is an obstacle behind the planned parking position (step S18: Yes), the control unit 14 determines the appropriate parking position based on the distance to the detected obstacle and the opening / closing distance of the back door of the host vehicle. Is determined (step S19). Specifically, the control unit 14 determines a position closer to the opening / closing distance of the back door of the host vehicle as an appropriate parking position from the position of the obstacle. Then, the process proceeds to step S20.

  In step S20, the control part 14 displays the parking guideline which shows the appropriate parking position determined by step S17 or S19 on the display part 12. FIG. Next, the control part 14 determines whether parking was completed (step S21). For example, when the shift lever of the vehicle is in the parking position or when the engine of the vehicle is stopped, the control unit 14 determines that the parking is completed.

  When parking is not completed (step S21: No), the control part 14 determines whether the vehicle exceeded the appropriate parking position (step S22). Specifically, the control unit 14 determines that the vehicle has exceeded the proper parking position when the distance from the rear vehicle output by the sonar 25 is shorter than the distance between the rear parking vehicles. If the vehicle does not exceed the appropriate parking position (step S22: No), the process returns to step S21. On the other hand, when the vehicle exceeds the appropriate parking position (step S22: Yes), the control unit 14 notifies the driver of that fact. This notification is performed by blinking a parking guideline displayed on the display unit 12 or outputting a warning sound. And when parking is completed (step S21: Yes), a process is complete | finished.

  As described above, according to the first embodiment, by acquiring vehicle information from the rear vehicle by inter-vehicle communication, the vehicle is parked with an appropriate distance from the already parked rear vehicle. Can be opened and closed without opening or closing the back door after parking.

  In the above example, in step S16, the control unit 14 compares the vehicle number included in the vehicle information received by the vehicle-to-vehicle communication with the vehicle number read from the photographed image, and receives the vehicle number by the vehicle-to-vehicle communication. It is confirmed whether the vehicle information is for the rear vehicle. Instead, the control unit 14 may determine whether or not the vehicle information acquired by the inter-vehicle communication is that of the rear vehicle, based on the position of the vehicle. That is, based on the current position of the host vehicle and the position of the vehicle included in the vehicle information acquired by the vehicle-to-vehicle communication, it may be confirmed whether the partner vehicle for the vehicle-to-vehicle communication is a rear vehicle. Specifically, when the position of the partner vehicle for inter-vehicle communication is immediately behind the current position of the host vehicle, it can be determined that the partner vehicle for inter-vehicle communication is a rear vehicle.

(Second embodiment)
In the second embodiment, when there is a vehicle parked on the left and right of the planned parking position (hereinafter referred to as “side vehicle”), the vehicle and Alternatively, the host vehicle is guided to a position where the side door of the side vehicle can be opened and closed. The side vehicle is an example of an adjacent vehicle according to the present invention.

  The situation assumed in the second embodiment is schematically shown in FIG. It is assumed that the driver parks the host vehicle 30 at the planned parking position Ps indicated by the broken line. Side vehicles 41 and 42 are already parked on the left and right of the planned parking position Ps of the host vehicle 30.

  When the host vehicle approaches the planned parking position Ps, the control unit 14 controls the left side camera 23 and the right side camera 24 to start photographing. Specifically, the control unit 14 allows the driver to park the vehicle when the vehicle enters an area of a specific facility (for example, a commercial facility) and the vehicle speed falls below a predetermined set speed. It is presumed that it is going to be performed, and photographing by the left side camera 23 and the right side camera 24 is started.

  When the shift lever of the host vehicle is put in the reverse position near the planned parking position Ps, the control unit 14 displays the captured image of the rear camera 22 on the display unit 12. Next, the inter-vehicle communication device 21 performs inter-vehicle communication and acquires vehicle information from surrounding vehicles. In this example, the side vehicles 41 and 42 correspond to surrounding vehicles.

  When the inter-vehicle communication device 21 can acquire vehicle information from surrounding vehicles, the control unit 14 has side vehicles on the left and right of the planned parking position Ps based on the captured images of the left side camera 23 and the right side camera 24. It is determined whether or not to do. Further, the control unit 14 analyzes the images taken by the left side camera 23 and the right side camera 24 before the shift lever is put into the back gear, and reads the vehicle license plates existing on the left and right of the planned parking position Ps, Get the vehicle number.

  And when a side vehicle exists in at least one of the left and right of the planned parking position Ps, the control unit 14 compares the vehicle number included in the vehicle information received by the inter-vehicle communication with the vehicle number read from the captured image. Then, it is confirmed whether the vehicle information received by the inter-vehicle communication is for the left and right side vehicles of the planned parking position Ps.

  When it is confirmed that the vehicle information received by the inter-vehicle communication is that of the side vehicle, the control unit 14 calls a parking inter-vehicle distance (hereinafter referred to as a “side parking inter-vehicle distance”) at which the side door can be opened and closed. ) And a parking guideline indicating an appropriate parking position corresponding to the distance between the side parking vehicles is displayed on the display unit 12.

  Specifically, the control unit 14 first determines the opening / closing distance of the side door of the side vehicle based on the vehicle type included in the vehicle information received from the side vehicle. In this case, preferably, the navigation device 10 stores the opening / closing distance of the side door for each vehicle type in an internal memory or the like, and the control unit 14 refers to it to determine the opening / closing distance of the side door of the side vehicle. decide. Instead of storing the side door opening / closing distance for each vehicle type in the internal memory, the standard side door opening / closing distance is stored in the internal memory for each vehicle type (sedan, wagon, minivan). You may determine the opening / closing distance of the side door of an adjacent vehicle with reference.

  On the other hand, the opening / closing distance of the side door of the host vehicle is stored in advance in the internal memory of the navigation device 10. Therefore, the control unit 14 determines the side parking inter-vehicle distance based on the opening / closing distance of the side door of the side vehicle and the opening / closing distance of the side door of the host vehicle. Specifically, the control unit 14 determines whether (A) the opening / closing distance of the side door of the own vehicle and the side vehicle, whichever is longer, or (B) the total opening / closing distance of the side door of the own vehicle and the side vehicle. Either of these is determined as the distance between the side parking vehicles. Note that which driver is used may be set in advance by the driver.

  When the distance between the side parking vehicles is determined in this way, the control unit 14 detects the distance between the own vehicle and the side vehicle based on the output of the sonar 25, and as shown in FIG. The parking guide lines 51L and 51R indicating the appropriate parking position, which is the position of the side parking inter-vehicle distance, are displayed on the display unit 12.

  Thereafter, during the parking operation by the driver, when the position in the left-right direction of the host vehicle exceeds the appropriate parking position indicated by the parking guidelines 51L and 51R, that is, the distance from the side vehicle detected by the sonar 25 is lateral. When it becomes shorter than the distance between parking vehicles, the control part 14 alert | reports it to a driver | operator. This notification is performed by a method such as blinking the parking guideline 50 displayed on the display unit 12 or outputting a warning sound or a voice message, as in the first embodiment.

  Thus, even when there is a side vehicle, the host vehicle can be guided to a position where the side door can be opened and closed. In addition, when the longer one of the opening / closing distance of the side door of the own vehicle and the side vehicle is used as the distance between the side parking vehicles, either the own vehicle or the side vehicle is the side door. Can be opened and closed freely, but the vehicle and the side vehicle cannot open the side door at the same time. On the other hand, when (B) the total opening / closing distance of the side doors of the host vehicle and the side vehicle is used as the distance between the side parking vehicles, the host vehicle and the side vehicle can simultaneously open the side door. .

  The parking support process in the second embodiment is basically the same as the parking support process in the first embodiment shown in FIG. However, in step S15, the control part 14 acquires the vehicle number of a side vehicle by analyzing the picked-up image of the left side camera 23 or the right side camera 24. FIG. Moreover, in step S16, the control part 14 is step S17, when a side vehicle exists and the vehicle number acquired by inter-vehicle communication corresponds with the vehicle number of the side vehicle acquired from the picked-up image. Proceed to In step S17, the control unit 14 derives and determines the side parking inter-vehicle distance based on the opening / closing distance of the side door of the host vehicle and the opening / closing distance of the side door of the side vehicle. To decide.

  In step S18, the control unit 14 detects whether or not there is an obstacle on the side of the planned parking position by using the sonar 25. If there is an obstacle, the control unit 14 performs side parking from the position of the obstacle in step S19. The position just before the inter-vehicle distance is determined as an appropriate parking position.

  As described above, according to the second embodiment, the vehicle information is obtained from the left and right side vehicles by inter-vehicle communication, so that the vehicle has an appropriate distance from the already parked side vehicle. Can be parked, and there is no problem in opening and closing the side door after parking.

  In the above example, the control unit 14 compares the vehicle number included in the vehicle information received by the inter-vehicle communication with the vehicle number read from the captured image, and the vehicle information received by the inter-vehicle communication is It is confirmed that it belongs to the other vehicle. Instead, the control unit 14 may determine whether or not the vehicle information acquired by the inter-vehicle communication is that of the side vehicle based on the position of the vehicle. That is, based on the current position of the host vehicle and the position of the vehicle included in the vehicle information acquired by the vehicle-to-vehicle communication, it may be confirmed whether the partner vehicle for the vehicle-to-vehicle communication is a side vehicle. Specifically, when the position of the partner vehicle for inter-vehicle communication is immediately next to the current position of the host vehicle, it can be determined that the partner vehicle for inter-vehicle communication is a side vehicle.

  Note that the second embodiment can be applied between one adjacent vehicle when a side vehicle exists only on either the left or right side. In that case, in the display image illustrated in FIG. 6, only the parking guideline 51L or 51R on the side where the side vehicle exists is displayed.

  The second embodiment can also be applied in combination with the first embodiment. That is, by implementing the first embodiment, it is possible to guide the vehicle to maintain the side parking distance between the left and right adjacent vehicles while maintaining the distance between the rear parking vehicles and the rear vehicle. In this case, the rear parking guidelines 50 illustrated in FIG. 3 and the side parking guidelines 51L and 51R illustrated in FIG. 6 are both displayed on the display unit 12.

[Door opening and closing distance]
Next, a supplementary explanation will be given on the opening / closing distance of the door. Depending on the type of vehicle door, the distance required for opening and closing the door desired by the vehicle user varies. Hereinafter, the distance according to each door type will be described.

  FIG. 7A shows the opening / closing distance of the side door (excluding the slide type). The distance D1 when the side door is opened to such an extent that the vehicle user can get on and off without difficulty is defined as the opening / closing distance of the side door. In addition, it is preferable to store a standard value as a default value for the opening / closing distance of the side door so that the vehicle user can individually register a set value as necessary.

  FIG. 7B shows the opening / closing distance of the back door (left-right opening type). In the case of a left-and-right opening type back door, the distance D2 when the back door is opened to such an extent that the vehicle user can easily load and unload the load is defined as the back door opening / closing distance. FIG. 7C shows the open / close distance of the back door (bounce-up type). In the case of a flip-up type back door, the distance D3 when the back door is fully opened is defined as the opening / closing distance of the back door. In addition, it is preferable to store a standard value as a default value for the opening / closing distance of the back door so that the vehicle user can register the setting value in advance as necessary.

DESCRIPTION OF SYMBOLS 10 Navigation apparatus 12 Display part 14 Control part 21 Inter-vehicle communication apparatus 22 Rear camera 23 Left side camera 24 Right side camera 25 Sonar

Claims (8)

A vehicle information acquisition unit that acquires vehicle information of one or more adjacent vehicles that exist adjacent to the planned parking position of the host vehicle;
A distance deriving unit for deriving a distance between the parked vehicle and the adjacent vehicle based on a distance related to opening and closing of the door of the own vehicle and a distance related to opening and closing of the door of the adjacent vehicle included in the vehicle information; ,
Based on the distance between parked vehicles derived by the distance deriving unit, a notifying unit for notifying the parking position of the host vehicle;
A parking assistance device comprising:   The distance deriving unit is the longer of the distance related to opening and closing of the door of the own vehicle and the distance related to opening and closing of the door of the adjacent vehicle, or the distance related to opening and closing of the door of the own vehicle and the distance of the adjacent vehicle The parking support device according to claim 1, wherein a total distance related to opening and closing of the door is set as a distance between parked vehicles of the host vehicle and the adjacent vehicle. A receiving unit that receives a vehicle number from each of a plurality of surrounding vehicles existing around the host vehicle;
A photographing unit for photographing vehicle numbers of the plurality of surrounding vehicles,
The vehicle information acquisition unit identifies the adjacent vehicle based on the vehicle number received by the reception unit and the vehicle number captured by the imaging unit, and acquires vehicle information of the adjacent vehicle. The parking assistance device according to claim 1 or 2. A current position measurement unit for measuring the current position of the vehicle;
A receiver for receiving the position of the surrounding vehicle from each of a plurality of surrounding vehicles existing around the own vehicle; and
The vehicle information acquisition unit identifies the adjacent vehicle based on a current position of the host vehicle and a position of a surrounding vehicle received by the reception unit, and acquires vehicle information of the adjacent vehicle. The parking assistance device according to claim 1 or 2. A detection unit for detecting the backward movement of the host vehicle;
The distance deriving unit is configured to open and close the rear door of the rear vehicle adjacent to the rear of the host vehicle and the distance necessary for opening and closing the rear door of the host vehicle when the detection unit detects the backward movement of the vehicle. The parking assistance device according to any one of claims 1 to 4, wherein a parking inter-vehicle distance between the host vehicle and the adjacent vehicle is derived based on a necessary distance. A parking support method executed by an in-vehicle device,
A vehicle information acquisition step of acquiring vehicle information of one or more adjacent vehicles existing adjacent to the planned parking position of the host vehicle;
A distance deriving step of deriving a distance between the parked vehicle and the adjacent vehicle based on a distance related to opening and closing of the door of the own vehicle and a distance related to opening and closing of the door of the adjacent vehicle included in the vehicle information; ,
Based on the distance between parked vehicles derived by the distance deriving step, a notification step of notifying the parking position of the host vehicle;
A parking support method comprising: A program executed by an in-vehicle device including a computer,
A vehicle information acquisition unit that acquires vehicle information of one or more adjacent vehicles existing adjacent to the planned parking position of the host vehicle;
A distance deriving unit for deriving a distance between the parked vehicle and the adjacent vehicle based on a distance related to opening and closing of the door of the own vehicle and a distance related to opening and closing of the door of the adjacent vehicle included in the vehicle information;
An informing unit for informing the parking position of the host vehicle based on the distance between the parked vehicles derived by the distance deriving unit;
A program for causing the computer to function as:   A storage medium storing the program according to claim 7.