JP2017114289A - Automatic parking support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic parking support device which secures a sufficient getting-off space on a driver's seat side in priority to a front passenger seat side.SOLUTION: The automatic parking support device includes: a detector 27 which detects a parking frame W1 for parking a vehicle; and an automatic parking controller 9 which parks a vehicle 1 within the parking frame W1 according to a target parking position A set inside the detected parking frame W1. The automatic parking controller 9 sets the target parking position A so that a getting-off space α on a driver's seat side of the vehicle 1 is wider than a getting-off space β on a front passenger seat side. Accordingly, a sufficient getting-off space α on a driver's seat side is always secured in priority to a front passenger seat side.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic parking assist device that parks a host vehicle in a parking frame.

  A parking operation such as so-called garage entry (parallel parking) in which the host vehicle (vehicle) enters the parking frame from behind and is parked at the target parking position is often not operated as desired. Especially for beginners and female drivers, garage storage is a burden. Therefore, in order to support this garage entry operation, an automatic parking assistance device that automatically parks the host vehicle has been proposed (see cited document 1).

  This automatic parking assist device detects, for example, a parking frame when it passes an entrance / exit side of the parking frame from a standby position where the own vehicle is waiting near the parking frame by an automatic parking control unit mounted on the own vehicle. This is detected by white line detection by the unit, the inside of the parking frame to be parked is determined, and the target parking position that is the target for parking the own vehicle in the parking frame is set. Then, the host vehicle is advanced and stopped until it comes to the backward approach posture, and while the vehicle is stopped, the stop position of the host vehicle serving as the reference position of the host vehicle and the target parking position in the parking frame are connected. A travel route for automatic parking is generated by combining arcs and straight lines. Next, the host vehicle retreats to the end of the parking frame while controlling the steering (EPS; electric power steering device) and the power unit of the host vehicle so as to trace the travel route. By this parking control, the driver can enter the garage of the host vehicle without troublesome parking operation. Of course, the automatic parking assist device can automatically park even in parallel parking. Automatic parking assistance is not fully automatic like this, but there is also partial automatic control where the driver operates some operations such as steering wheel operation, accelerator operation, brake operation, etc.

Japanese Patent Laid-Open No. 2015-110380

By the way, the target parking position in the parking frame, which is set by such automatic parking control, is usually determined at the center in the width direction in the parking frame. That is, the garage entry is performed so that a getting-off space having the same width (width) is formed on both sides of the vehicle (driver's seat side, passenger's seat side).
However, the width of the parking frame is limited. In addition, there are many vehicles with a relatively large overall width, such as 3 numbers, in the garage. For this reason, when a vehicle is put in a garage by automatic parking control, there is a case where a sufficient space is not secured for the getting-off space on the driver's seat side (between the side of the vehicle body and the white line of the parking frame).

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an automatic parking assist device that secures a sufficient dismounting space on the driver's seat side in preference to the passenger seat side.

  An aspect of the present invention includes an automatic detection unit that detects a parking frame in which a vehicle is parked and an automatic parking control unit that parks the vehicle in the parking frame according to a target parking position set in the detected parking frame. In the parking assist device, the automatic parking control unit sets the target parking position so that the getting-off space on the driver's seat side of the vehicle is wider than the getting-off space on the passenger seat side.

  According to the present invention, since the target parking position set in the parking frame to be parked is set so that the getting-off space on the driver's seat side is wider than the getting-off space on the passenger seat side, the vehicle is in the parking frame. When the vehicle is parked, it is always possible to secure a sufficient space for getting off the driver's seat in preference to the passenger's seat. Therefore, it is possible to improve the rideability of the driver.

(A) is a top view explaining the movement of the vehicle put in a garage (parallel parking) with the automatic parking assistance apparatus used as the aspect which concerns on the 1st Embodiment of this invention, (b) is a block which shows the structure of the apparatus Figure. The flowchart which shows the automatic parking control performed with an automatic parking assistance apparatus. The top view explaining when a vehicle is put in a garage (parallel parking) under different conditions with an automatic parking assistance device. The top view explaining when vehicles are parked in parallel under different circumstances with automatic parking assistance devices, The top view which shows different garage storage (parallel parking) of the own vehicle used as the principal part of the 2nd Embodiment of this invention.

Hereinafter, the present invention will be described based on a first embodiment shown in FIGS.
FIG. 1A shows a case where the host vehicle 1 (corresponding to the vehicle of the present application) is automatically put into a garage (parallel parking), and FIG. 1B shows an automatic parking assistance device 15 that automatically puts the garage into the garage. The structure of is shown. Here, the automatic parking assist device 15 may be fully automatic, and some operations such as steering operation, accelerator operation, and brake operation are partial automatic controls operated by the driver. May be. In the following, the fully automatic automatic parking assistance device 15 will be described in particular.

  As shown in FIG. 1B, an automatic parking assist device 15 mounted on the host vehicle 1 includes an EPS ECU 3 that performs steering control of, for example, EPS (electric power steering: not shown), a power unit for traveling, and an engine here. The power unit ECU 5 includes an E / G ECU 5a that controls the (engine) and a T / M ECU 5b that controls the transmission (not shown), and a brake ECU 7 that controls the brake device (not shown). . Furthermore, it has automatic parking ECU9 (equivalent to the automatic parking control part of this application) which supervises these ECU3,5,7.

  As shown in FIG. 1A, the host vehicle 1 has a driver seat 1a and a passenger seat 1b in the front row, and a rear seat 2a. A passenger car is assumed that has 2b and has hinged front doors 11a and 11b and rear doors 12a and 12b on both the left and right (vehicle width direction) sides. The host vehicle 1 includes a door lock device 13 that locks the doors 11a, 11b, 12a, and 12b, a child lock device 16 that locks the rear doors 12a and 12b from opening from the vehicle interior side, and the seats 1a and 1b. , 2a, 2b, an occupant sensor 17 for detecting the presence or absence of an occupant, and a proximity sensor 19 (for example, an ultrasonic sensor) for detecting how close an obstacle outside the vehicle is to the host vehicle 1 are provided. Each device such as the door lock device 13, the child lock device 16, the occupant sensor 17, and the proximity sensor 19 is connected to a body ECU 21 that controls all the devices on the vehicle body side. The body ECU 21 is connected to the automatic parking ECU 9, and various automatic detection information and driving information are input to and output from the automatic parking ECU 9 during automatic parking.

  Further, the host vehicle 1 includes a front view camera 23 that images the front of the host vehicle 1, a rear view camera 25 that images the rear of the host vehicle 1, and a pair of left and right images that capture each side (both sides in the vehicle width direction) of the host vehicle 1. Side view camera 27 is provided. The front view camera 23, the rear view camera 25, and the side view camera 27 are connected to the automatic parking ECU 9 via a camera ECU 29 that controls the imaging device, and various types of imaging information are input to the automatic parking ECU 9. ing.

A parking switch 31 is connected to the automatic parking ECU 9. The parking switch 31 is composed of a plurality of on / off switches divided according to parking, such as “left garage entry”, “right garage entry”, and “parallel parking”.
The automatic parking ECU 9 is set with a garage entry mode suitable for garage entry and a parallel parking mode suitable for parallel parking. From the left garage mode, that is, from the left direction of the own vehicle 1 (passenger seat side) as shown in FIG. 1A, the garage is placed (parked in parallel) into a parking frame W1 formed of a white line frame, for example. In the mode, the host vehicle 1 waits near the parking frame W1 by driving the driver, for example, stops near the entrance / exit of the parking frame W1 as the standby position P1. The left garage mode is started by turning on the “left garage” switch while the vehicle is stopped. In the same mode, for example, the host vehicle 1 passes through the entrance / exit side of the parking frame W1 from the standby position P1 at a slow speed (forward) according to a preset travel route δ1. In the meantime, the white line position of the parking frame W1 is detected by the imaging of the side view camera 27 on the passenger seat side, and further the processing of the image, and each part of the parking frame W1 is detected. Thereby, the entrance / exit width of the parking frame W1 is detected. The target parking position A in the parking frame W1 where the host vehicle 1 is parked is set based on the detected entrance / exit width. The host vehicle 1 travels (moves forward) obliquely to a predetermined position suitable for the reverse approach posture, and stops the host vehicle 1 in a predetermined oblique rearward posture. And the path | route calculated | required for parking which connects between the stop position P2 stopped diagonally backward used as the reference | standard position of the own vehicle 1, and the target parking position A in the parking frame W1, ie, driving | running path | route (delta) 2 which combined the circular arc and the straight line Is generated. Subsequently, EPS (electric power steering) steering control by the EPS ECU 3, engine output by the power unit ECU 5, and T / M shift stage control are performed (reverse) so as to trace the travel route δ 2. During this time, the proximity sensor 19 monitors the side of the host vehicle. When it is detected from the rear image of the host vehicle 1 captured by the rear view camera 25 that the host vehicle 1 is within the parking frame W1, the garage entry is finished. By the automatic parking control starting from the switch operation of the parking switch 31, the own vehicle 1 is put in the garage at the target parking position A in the parking frame W1. When entering the garage from the right direction (driver's seat side) of the traveling direction of the host vehicle 1, it is the same except that the “right garage entry” switch is operated.

  In the case of the parallel parking mode as shown in FIG. 4A, that is, the parallel parking mode from the left direction of the own vehicle 1 (passenger seat side) into the parking frame W10 made of a white line frame, for example. The vehicle 1 is started by driving the driver in the vicinity of the parking frame W10, for example, by stopping the vehicle 1 near the rear of the parking frame W10 as the standby position P10 and turning on the “parallel parking” switch. In this mode, the host vehicle 1 passes through the side of the parking frame W10 from the standby position P10 at a slow speed (forward) in accordance with a preset travel route δ5. In the meantime, each part of the parking frame W10 is detected in accordance with the imaging of the side view camera 27 on the passenger seat side and the white line detection of the parking frame W10 by image processing of the imaging. And the target parking position B where the own vehicle 1 parks is set from the detected entrance / exit width. The own vehicle 1 travels (moves forward) at a low speed to a predetermined position suitable for the backward approach posture, and stops the own vehicle 1 in a predetermined posture. And the path | route calculated | required for parking which connects between the stop position P20 used as the reference | standard position of the own vehicle 1, and the target parking position B in the parking frame W10, ie, driving | running path | route (delta) 6 which combined the circular arc and the straight line, is produced | generated. Subsequently, EPS (electric power steering) steering control by the EPS ECU 3, engine output by the power unit ECU 5, and T / M shift stage control are performed (reverse) so as to trace the travel route δ 6. During this time, the proximity sensor 19 monitors the side of the host vehicle. When it is detected from the rear image of the host vehicle 1 captured by the rear view camera 25 that the host vehicle 1 is within the parking frame W10, the garage entry is finished. By the automatic parking control starting from the switch operation of the parking switch 31, the host vehicle 1 is parked in parallel at the target parking position B in the parking frame W10.

The automatic parking assist device 15 is provided with a control for securing a sufficient dismounting space α on the driver's seat 1a side in preference to the passenger seat 1b side.
This control is realized by setting the target parking positions A and B. That is, the target parking positions A and B are set to positions in the parking frames W1 and W10 where the getting-off space α on the driver's seat side is always wider than the getting-off space β on the passenger seat side. Specifically, the target parking positions A and B are not positions at the center in the width direction in the parking frames W1 and W10 as shown by the alternate long and short dash lines in FIGS. 1 (a) and 4 (a). a) is set at a position close to the passenger seat 1b side from the center in the width direction indicated by the solid line in FIG. For example, the target parking positions A and B are set to positions deviated by a predetermined amount from the intermediate position in the width direction of the parking frames W1 and W10 toward the passenger seat.

  The automatic parking ECU 9 is connected to a parking position adjusting unit 33 configured by, for example, a dial type operation knob. The parking position adjustment unit 33 can adjust the target parking positions A and B by the driver's own operation. More specifically, the parking position adjusting unit 33 has a relative relationship (setting) in which the target parking positions A and B are wider in the driver seat side alighting space α than the passenger seat side alighting space β by operating the operation knob. It is assumed that the adjustment is made while maintaining, that is, within the range from the position closest to the driver's seat 1a and the position where the side portion of the passenger seat 1b approaches the white line of the parking frames W1 and W10. Of course, the parking position adjustment unit 33 is not limited to this operation knob, and is composed of a plurality of switches that allow the driver's seat side alighting space α to be selected to be “large”, “medium”, and “small”. Also good.

  The automatic parking assist device 15 is provided with a function of correcting the target parking positions A and B set closer to the passenger seat according to the situation of the surroundings of the host vehicle and the seating position of the occupant. For example, the positions of the target parking positions A and B are corrected in consideration of the occupants in the own vehicle 1, and the positions of the target parking positions A and B are corrected in consideration of obstacles inside and outside the parking frames W1 and W10. Function to be set.

That is, when the number of passengers riding on the passenger seat side of the host vehicle 1 is more biased than the number of passengers riding on the driver's seat side, passenger boarding / exiting performance is also emphasized. The
Therefore, the automatic parking ECU 9 detects from the occupant sensor 17 provided in each seat 1a, 1b, 2a, 2b that the number of passengers on the passenger side is larger than the number of passengers on the driver side from the occupant sensor 17. In this case, for example, when the driver's seat side is on one person and the passenger seat side is on two persons, a correction function is set to shift the set target parking positions A and B by a predetermined amount to the driver's seat 1a side. With this correction function, when the number of passengers on the passenger seat side is large, the getting-off space β on the passenger seat side becomes wider.

On the other hand, if there are obstacles in the parking frames W1, W10, the passenger seat side of the host vehicle 1 may be too close to the obstacles, or the host vehicle 1 may come into contact with the obstacles.
Therefore, the automatic parking ECU 9 uses, for example, the proximity sensor 19 provided on the passenger seat side as the first obstacle detection unit, and the output information from the proximity sensor 19 indicates whether there is an obstacle in the parking frames W1 and W10 and the parking frame W1. , A function for detecting the amount of overhang into W10 is set. Furthermore, when the automatic parking ECU 9 detects that there is an obstacle that protrudes toward the passenger seat 1b in the frames of the parking frames W1 and W10, the positions of the target parking positions A and B are determined according to the detected obstacle. Correction, specifically, a correction function for shifting the positions of the target parking positions A and B to the driver's seat side in accordance with the amount of obstacle overhang detected by the proximity sensor 19 is set. That is, troubles due to obstacles within the frame are avoided.

  Further, when there is no obstacle (for example, another vehicle) on the driver seat side of the parking frame W1, the getting-off spaces α and β on the driver seat side and the passenger seat side are both easy to secure. Therefore, the automatic parking ECU 9 uses the proximity sensor 19 provided on the driver's seat side as a second obstacle detection unit that detects that there is no obstacle on the driver's seat side of the parking frame W1, and the obstacle on the driver's seat side. When there is not, the function of correcting the position of the target parking position A, for example, shifting the target parking position A to the maximum near the white line on the driver seat side of the parking frame W1, for example, is set. That is, a wider space is secured for both the getting-off space α on the driver's seat side and the getting-off space β on the passenger seat side.

  In addition, the automatic parking ECU 9 is provided with a means for prohibiting passengers on the passenger side from getting off when the passenger seat side getting-off space β becomes a space where the passenger cannot get off. This is because the automatic parking ECU 9 has an obstacle on the passenger seat side, for example, from an image captured by the side view camera 27 on the passenger seat side, and the proximity sensor 19 on the passenger seat side causes an obstacle between the side portion on the passenger seat side of the vehicle 1 and the obstacle. A function for detecting when it is difficult to get off, such as when the distance between the object and the object is less than a predetermined space (corresponding to the hard-fall detection unit of the present application), and when the “difficult to get off” (below the predetermined space) is detected The front door 11b and the rear door 12b on the passenger seat side are configured to turn on the door lock. That is, it is formed with a function that restricts getting off from the passenger seat side. This prevents the passenger from getting off from the front door 11b and the rear door 12b on the passenger seat side. Of course, when the child lock device 16 is already turned on, the locked state is maintained as it is.

The automatic parking assist device 15 compares the value obtained by adding the total width dimension of the host vehicle 1 and the minimum door opening width required for getting off with the detected width dimension of the parking frame W1, and parking is performed. When it is determined as inappropriate, for example, a notification lamp (notification unit) provided on the instrument panel is turned on, and a function of canceling automatic parking control is also set, so that automatic parking is not performed unnecessarily.
Next, the operation of the automatic parking assistance apparatus 15 configured as described above will be described with reference to the parking route shown in FIG. 1A and the flowchart shown in FIG. Here, it is assumed that one driver is on board (implied by hatching).

  When parking the own vehicle 1 in the parking frame W1 (parallel parking) from the left direction (passenger seat side) of the vehicle traveling direction as shown in FIG. 1A, first, the own vehicle 1 is parked by the driver's driving. Waiting near W1, for example, near the entrance / exit of the parking frame W1, is stopped as a waiting position P1. Next, the “left garage entry” switch (parking switch 31) is turned on. Then, the host vehicle 1 travels at a slow speed (forward) from the standby position P1 immediately before the entrance / exit side of the parking frame W1 according to a preset travel route δ1. During this time, the parking frame W1 is recognized as in step S1. This recognition is performed by detecting the position of the white line of the parking frame W1 from the image captured by the side view camera 27 on the passenger seat side. Thereby, the entrance / exit width dimension of the parking frame W1 is detected. In step S2, the target parking position A where the host vehicle 1 is parked is set according to the detected width of access. At this time, as shown in FIG. 1A, the target parking position A is set to a predetermined ratio position where the getting-off space α on the driver's seat side becomes wider than the getting-off space β on the passenger seat side. Subsequently, the host vehicle 1 travels (moves forward) obliquely to a predetermined position suitable for the backward approach posture, and is stopped in a predetermined oblique backward posture. During this time, as shown in FIG. 1 (a), a parking path, that is, an arc or a straight line, connecting between the stop position P2 of the host vehicle 1 stopped diagonally rearward and the target parking position A approaching the passenger seat side. A travel route δ2 is generated in combination. This travel route δ2 does not guide the host vehicle 1 to the center in the width direction of the parking frame W1 as shown by the alternate long and short dash line in FIG. The host vehicle 1 is guided to a position closer to the vehicle.

Next, the process proceeds to step S3, and it is determined whether or not the set target parking position A needs to be corrected. Here, when the operation knob constituting the parking position adjustment unit 33 is displaced from the neutral position to the “large” side and the “small” side, the number of passengers on the passenger seat side is larger than the number of passengers on the driver seat side Etc. corresponds to “correction required”.
If the operation knob (parking position adjustment unit 33) is swung to the “large” side, the target parking position A is closer to the passenger seat side, and if it is swung to the “small” side, the target parking position A is the driver seat. Correction is made to approach the side (step S5). If the number of passengers on the passenger seat side is greater than the number of passengers on the driver seat side, the target parking position A is corrected to approach the driver seat side according to the riding condition (step S4).

  As shown in FIG. 1A, in the case of a single rider (own vehicle 1), the target parking position A is only corrected by the operation knob (parking position adjusting unit 33). That is, the travel route δ2 is set by the corrected target parking position A. And it reaches step S7 and parking of the own vehicle 1 is started. That is, the automatic parking ECU 9 controls EPS steering, engine output, T / M shift speed, etc. (reverse) so that the host vehicle 1 traces the travel route δ2 in FIG.

  At this time, it is determined that there is no obstacle on the passenger seat side in the parking frame W1 (by the side view camera 27 and the proximity sensor 19), and the obstacles outside the parking frame W1 on the driver seat side, that is, the adjacent parking frame W2 When the presence of the other vehicle 30 is confirmed (by the side view camera 27 and the proximity sensor 19), the target parking position A is left as it is, and the process proceeds to step S17 through step S9 and step S19.

When the presence of the other vehicle 30 is not confirmed in the adjacent parking frame W2, the target parking position A is corrected by shifting a predetermined amount toward the driver's seat in step S21.
Then, when it is detected from the rear image from the rear view camera 25 in Step 17 that the retreating host vehicle 1 is within the parking frame W1, it is determined that parking is finished, and the garage entry is finished.

  As a result, as shown in FIG. 1A, the host vehicle 1 has a width S1 of the driver-side dismounting space α that is set on the passenger seat side so that the driver S Parking is finished in a state where the width is larger than the width S2 of the space β (S2 <S1). That is, a sufficient dismounting space α is secured on the driver's seat side of the own vehicle 1. In particular, when there is no other vehicle 30 (obstacle) in the adjacent parking frame W2, as shown by the two-dot chain line in FIG.

  When there are many passengers on the passenger side, for example, as shown in FIG. 3A, when the driver side is one driver and the passenger side is two passengers, in step S4, the driver side and the passenger side Correction for shifting the target parking position A toward the driver's seat is performed according to the degree of deviation of the passenger position. As a result, the width of the unloading space on the passenger seat side is S3 wider than S2, and passengers on the passenger seat side are more likely to get off than when riding alone.

  In step S9, for example, as shown in FIG. 3B, it is assumed that the proximity sensor 19 on the passenger seat side detects that there is an obstacle M on the passenger seat side in the parking frame W1. At this time, the process proceeds from step S9 to step S11, and the target parking position A is shifted by a predetermined amount toward the driver's seat. As a result, the host vehicle 1 finishes parking while avoiding being too close to the obstacle or interfering with the obstacle. S4 indicates the width of the passenger exit space at that time (S2 <S4). Of course, the getting-off space α on the driver's seat side is wider than the parking space β on the passenger seat side.

  On the other hand, by detecting the obstacle by the proximity sensor 19 on the passenger seat side, it is detected that there is only a gap of a predetermined space or less between the own vehicle 1 and the obstacle M. In this case, the correction away from the obstacle reaches its limit. Then, in step S13, it is determined that it is difficult to get off from the passenger seat side, and each door on the passenger seat side is locked (door lock) as in step S15. In other words, the door lock prevents an occupant from getting off from the passenger seat side (risk avoidance).

Although the case where the own vehicle 1 is “garaged (parallel parking)” from the left side of the vehicle traveling direction (passenger seat side) has been described, the same applies to the case where the vehicle 1 is parked in the parking frame from the right direction of the vehicle traveling direction (driver's seat side). It is.
On the other hand, with regard to “parallel parking”, as shown in FIGS. 4A and 4B, the initial standby position P10 of the host vehicle 1 or the “parallel parking” switch is operated, or the posture is suitable for parking. The target parking position B is set at a position close to the passenger seat, the host vehicle 1 is automatically parked at the target parking position B, The point that the parking position B can be adjusted, the point that the target parking position B is corrected by the occupant's bias between the driver's seat and the passenger's side, and the obstacle M that avoids the obstacle M on the passenger's side of the parking frame W1 The point of correcting the parking position B and the point of correcting the target parking position B depending on the presence or absence of an obstacle on the driver's seat side of the parking frame W1 are the same. Description of the function of “parallel parking” is omitted.

As described above, the target parking position A in the parking frame W1 is set so that the getting-off space α on the driver's seat side is wider than the getting-off space β on the passenger seat side. When parking in a car, it is always possible to secure a sufficient dismounting space α on the driver's seat side in preference to the passenger seat side. For this reason, the driver's boarding / exiting ability can be improved in any parking.
In addition, the automatic parking assist device 15 is capable of adjusting the target parking position A while maintaining the setting that the getting-off space α on the driver's seat side is wider than the getting-off space β on the passenger seat side. Accordingly, the size (width) of the getting-off space α on the driver's seat side can be set.

In addition, the target parking position A is corrected according to the deviation of the boarding position between the driver's side passenger and the passenger's side passenger who is in the host vehicle 1, so that the passenger's getting off from the passenger side is also possible. Easy to do.
In addition, when the target parking position A is on the passenger side obstacle in the parking frame W1, it is corrected according to the obstacle, so even if there is an obstacle in the parking frame W1, the parking is smoothly performed. it can.

In addition, the target parking position A is corrected even when there is no obstacle on the driver's seat side of the parking frame W1, and the getting-off space α can be secured by effectively using the state without the obstacle.
Moreover, when it is detected that it is difficult to get off because the getting-off space β on the passenger seat side is equal to or less than the predetermined space, the doors 11b and 12b on the passenger seat side are door-locked, so that the passenger on the passenger seat side gets off unnecessarily. Can be prevented, and is excellent in safety.

These effects are the same for “parallel parking”.
Further, in the first embodiment described above, an example of warehousing in parallel with the parking frame in accordance with the target parking position brought closer to the passenger seat side at the time of “garage entry (parallel parking)” or “parallel parking” was given. However, as in the second embodiment as shown in FIG. 5, the host vehicle 1 is parked obliquely in the parking frame W1 and disembarks on the front driver seat side and the rear passenger seat side of the host vehicle. You may apply to the automatic parking which secures space (alpha) and (beta). Also in this case, the target parking position A is set so that the getting-off space α on the driver's seat side is larger than the getting-off space β on the passenger seat side. Thereby, there exists an effect similar to 1st, 2nd embodiment. However, in FIG. 5, the same parts as those of the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  Note that the present invention is not limited to the above-described embodiment, and various modifications may be made without departing from the spirit of the present invention. For example, in the above-described embodiment, a vehicle having a hinged door is described, but a vehicle having a sliding door may be used. Also, automatic parking control for performing “garage entry” or “parallel parking” may be applied to an automatic parking assist device using automatic parking control using another target parking position. Of course, the automatic parking assistance is not fully automatic as in the above-described embodiment, but also includes partial automatic control in which the driver operates some operations such as steering operation, accelerator operation, and brake operation, You may apply this invention to the parking assistance apparatus by such partial automatic control.

1 Own vehicle (vehicle)
9 Automatic parking ECU (automatic parking control part, difficulty detection part)
19 Proximity sensor (first obstacle detection unit, second obstacle detection unit)
27 Side view camera (detector)
33 Parking position adjustment part W1 Parking frame A, B Target parking position α Get-off space on the driver's side β Get-off space on the passenger side

Claims (6)

An automatic parking support apparatus having a detection unit that detects a parking frame in which a vehicle is parked, and an automatic parking control unit that parks the vehicle in the parking frame according to a target parking position set in the detected parking frame. There,
The automatic parking control device sets the target parking position so that the getting-off space on the driver's seat side of the vehicle is wider than the getting-off space on the passenger seat side. The automatic parking control unit includes a parking position adjustment unit that adjusts the set target parking position while maintaining a setting in which the getting-off space on the driver's seat side is wider than the getting-off space on the passenger seat side. The automatic parking assistance device according to claim 1, wherein An occupant detection unit that detects a degree of deviation of the boarding position in the driver's side passenger and the passenger's side passenger who is in the vehicle;
The said automatic parking control part is correct | amended according to the bias | inclination condition of the said boarding position of the said passenger | crew detected by the said passenger | crew detection part as the set target parking position. The automatic parking assistance device described. A first obstacle detection unit for detecting the presence or absence of an obstacle in the parking frame;
4. The automatic parking control unit according to claim 1, wherein the set target parking position is corrected in accordance with an obstacle detected by the first obstacle detection unit. 5. The automatic parking assistance device according to one item. A second obstacle detection unit that detects the presence or absence of an obstacle on the driver's seat side of the parking frame;
The automatic parking control unit is corrected when the set target parking position is detected as no obstacle by the second obstacle detection unit. The automatic parking assistance device according to claim 1. A disembarkation detector for detecting whether the disembarking space on the passenger seat side is a space that is difficult to disembark because the space is below a predetermined space;
The automatic parking control unit locks the door on the passenger seat side of the vehicle when it is detected by the difficulty detection unit that the getting-off space on the passenger seat side is equal to or less than the predetermined space. The automatic parking assistance apparatus as described in any one of Claims 1-4.

Images