JP2018039297A - Parking support method and parking support apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable an easy touch on an operation reception zone, the zone that is for use in receiving a touch operation for parking the vehicle, after touching the zone when an operation device having the operation reception zone is operated.SOLUTION: A parking support method includes: setting a target parking position for a vehicle; parking the vehicle at the target parking position by an automatic operation in accordance with a touch operation received by an operation reception zone 57 of an operation device; and expanding the operation reception zone 57 after receiving the touch operation in the operation reception zone 57.SELECTED DRAWING: Figure 6A

Description

  The present invention relates to a driving support method and a driving support device.

  Patent Document 1 describes a technique for performing an input operation on a parking assistance device by operating a button of the parking assistance device. The user moves the pointer over the button displayed on the display of the parking assistance apparatus by operating the lever of the joystick, and operates the button of the parking assistance apparatus by pressing the designation button of the joystick in this state. .

JP 2010-095027 A

When performing an operation of parking a vehicle using a predetermined operation device, the operator may operate the operation device while looking at the vehicle and may not see the operation device. For this reason, (1) even if the operator continues to touch the operation reception area of the controller device, the touch position may unintentionally deviate from the operation reception area. In this case, since the operator must check the operation reception area again by looking at the operation device, smooth parking is hindered. Or, (2) even if an attempt is made to touch the operation reception area again after interrupting the touch, the touch position may unintentionally deviate from the operation reception area. Also in this case, since the operator must check the operation reception area again by looking at the operation device, smooth parking is hindered.
In order to solve either of the above problems (1) or (2), the present invention touches an operation reception area when operating an operation device having an operation reception area for receiving a touch operation for parking a vehicle. The purpose is to make it easy to touch the same operation reception area.

  In the parking assistance method according to one aspect of the present invention, the vehicle is parked at the target parking position by automatic driving in accordance with the touch operation received in the operation reception area of the operation device. The operation reception area is expanded after the touch operation is received in the operation reception area.

  According to one aspect of the present invention, when operating an operation device having an operation reception area that receives a touch operation for parking a vehicle, it is easy to touch the same operation reception area after touching the operation reception area.

It is a figure which shows the structural example of a vehicle provided with the parking assistance apparatus which concerns on embodiment. It is a block diagram which shows an example of a function structure of a vehicle control circuit. It is a figure which shows the 1st example of a parking operation reception screen. It is a figure which shows the 2nd example of a parking operation reception screen. It is explanatory drawing of the determination method of a communication failure risk. It is a block diagram which shows an example of a function structure of an operating device. It is a figure which shows the 3rd example of a parking operation reception screen. It is explanatory drawing of the 1st extended example of an operation reception area | region. It is explanatory drawing of the 2nd extended example of an operation reception area | region. It is a flowchart of an example of the parking assistance method which concerns on embodiment. It is a flowchart of an example of an operation start process. It is a flowchart of an example of a continuation operation reception process. It is a flowchart of an example of an intermittent operation reception process. It is a figure which shows the 4th example of a parking operation reception screen. It is a figure which shows the 5th example of a parking operation reception screen.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The following embodiments of the present invention exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention includes the material, shape, The structure, arrangement, etc. are not specified below. The technical idea of the present invention can be variously modified within the technical scope defined by the claims described in the claims.

(Constitution)
Please refer to FIG. A parking assistance device 2 that parks the vehicle 1 at a target parking position by automatic driving includes a vehicle control circuit 3, a surrounding state detection sensor group 4, an actuator group 5, a communication device 6, and an operation device 7. The vehicle control circuit 3, the surrounding situation detection sensor group 4, the actuator group 5, and the communication device 6 are mounted on the vehicle 1.
A driver (that is, an operator of the operation device 7) can operate the vehicle control circuit 3 by operating the operation device 7 outside the vehicle 1.

  The surrounding state detection sensor group 4 includes sensors for detecting the surrounding state of the vehicle 1 necessary for automatic driving of the vehicle 1 by the parking assistance device 2. The ambient condition detection sensor group 4 includes a camera 10 and a distance measuring sensor 11. The camera 10 detects surrounding conditions of the vehicle 1 such as a relative position between the vehicle and another vehicle, a distance between the vehicle and the other vehicle, an obstacle existing around the vehicle, and a white line on a road around the vehicle. The distance measuring sensor 11 detects the relative position between the vehicle and the other vehicle, the distance between the vehicle and the other vehicle, and the surrounding situation of the vehicle 1 such as an obstacle around the vehicle. For example, the distance measuring sensor 11 may be a laser range finder or a sonar. The camera 10 and the distance measuring sensor 11 output information on the detected surrounding situation to the vehicle control circuit 3.

The vehicle control circuit 3 is an electronic control unit that performs automatic driving control of the vehicle. The vehicle control circuit 3 includes a processor 15 and peripheral components such as a storage device 16.
The processor 15 may be, for example, a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit).
The storage device 16 may include any one of a semiconductor storage device, a magnetic storage device, and an optical storage device. The storage device 16 may include a register, a cache memory, and a memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory) used as a main storage device.

The vehicle control circuit 3 may be realized by a functional logic circuit set in a general-purpose semiconductor integrated circuit. For example, the vehicle control circuit 3 may include a programmable logic device (PLD) such as a field-programmable gate array (FPGA).
The vehicle control circuit 3 determines the target parking position based on the surrounding situation detected by the surrounding situation detection sensor group 4 and the operation of the operating device 7 by the driver. The vehicle control circuit 3 drives the actuator group 5 so as to park the vehicle 1 at the determined target parking position.

In response to a control signal from the vehicle control circuit 3, the actuator group 5 operates the steering wheel, accelerator opening, and brake device of the vehicle to generate the vehicle behavior of the vehicle. The actuator group 5 includes a steering actuator 12, an accelerator opening actuator 13, and a brake control actuator 14.
The steering actuator 12 controls the steering direction and amount of steering of the vehicle.
The accelerator opening actuator 13 controls the accelerator opening of the vehicle.
The brake control actuator 14 controls the braking operation of the vehicle brake device.

  The communication device 6 communicates with the operation device 7 via a wired or wireless communication line. The communication device 6 is connected to the vehicle control circuit 3 to enable communication between the vehicle control circuit 3 and the operation device 7. The communication device 6 communicates with the controller device 7 via short-range wireless communication such as Bluetooth (registered trademark), wireless LAN (Local Area Network) such as Wi-Fi (registered trademark), or public wireless communication. It's okay. The communication device 6 receives an instruction signal from the operation device 7 according to the operation performed by the driver in the operation device 7.

The functional configuration of the vehicle control circuit 3 will be described with reference to FIG. The vehicle control circuit 3 includes a surrounding image generation unit 30, a current position estimation unit 31, a start position setting unit 32, a target parking position determination unit 33, a route generation unit 34, a follow-up control unit 35, and a steering control unit. 36, a speed control unit 37, and a communication status determination unit 38.
The processor 15 of the vehicle control circuit 3 executes the computer program stored in the storage device 16, so that the surrounding image generation unit 30, the current position estimation unit 31, the start position setting unit 32, the target parking position determination unit 33, the route The function of the production | generation part 34, the follow-up control part 35, the steering control part 36, the speed control part 37, and the communication condition determination part 38 is implement | achieved.

The surrounding image generation unit 30 generates a surrounding image of the vehicle 1 based on an image signal obtained by photographing the surroundings of the vehicle 1 with the camera 10. For example, the surrounding image generation unit 30 may generate an overhead image viewed from a virtual viewpoint located above the vehicle 1 as a surrounding image by combining image signals of a plurality of cameras 10 provided in the vehicle 1.
The surrounding image generated by the surrounding image generation unit 30 is transmitted to the operating device 7 and displayed on the operating device 7.

Here, the surrounding image generated by the surrounding image generation unit 30 will be described.
Refer to FIG. 3A. Reference numeral 50 is a parking operation reception screen displayed on the controller device 7.
The operation device 7 receives an operation of selecting a parking frame for parking the vehicle 1 from one or a plurality of parking frames existing around the vehicle 1 on the parking operation reception screen 50.
In addition, the operation device 7 receives an operation for parking the vehicle 1 in the selected parking frame on the parking operation reception screen 50.

The surrounding image generation unit 30 generates a surrounding image 51 displayed on the parking operation reception screen 50. Reference numeral 52 indicates an icon indicating the position of the vehicle 1 in the surrounding image 51, and an alternate long and short dash line 53 indicates a road dividing line indicating a parking frame existing around the vehicle 1.
On the parking operation reception screen 50, the parking frame 54 is selected as a parking frame for parking the vehicle 1 by an operation for designating any place P <b> 1 within the range of the parking frame 54 shown in the surrounding image 51. For example, the parking frame 54 may be selected by touching the display position of the place P1 on the surrounding image 51.

When the parking frame 54 for parking the vehicle 1 is selected, a target parking position for parking the vehicle 1 is set in the parking frame 54.
Refer to FIG. 3B. When the target parking position is set, a parking position mark 56 indicating the range occupied by the vehicle 1 parked at the target parking position is displayed in the surrounding image 51.
When the target parking position is set, a “Go” button that is an operation reception area for receiving an operation for parking the vehicle 1 in the selected parking frame 54 is displayed on the parking operation reception screen 50. Here, reference numeral 57 indicates an operation reception area for receiving a touch operation of the “Go” button, and reference numeral 58 indicates a display area of the “Go” button.

The vehicle control circuit 3 causes the vehicle 1 to travel on the route for parking at the target parking position only while the touch operation is received in the operation reception area 57 of the “Go” button. When the touch operation in the operation reception area 57 is interrupted, the vehicle control circuit 3 stops the vehicle 1.
On the other hand, when the “Exit” button 55 is pressed, automatic parking of the vehicle 1 in the parking frame 54 is stopped.

Please refer to FIG. The surrounding image generation unit 30 outputs the surrounding image 51 to the communication device 6. The communication device 6 transmits the surrounding image 51 to the operation device 7.
The current position estimation unit 31 assumes the current position of the vehicle 1 based on the surrounding situation detected by the surrounding situation detection sensor group 4. The current position estimation unit 31 outputs information on the current position to the tracking control unit 35.
The start position setting unit 32 sets the start position of the parking operation by automatic driving based on the surrounding situation detected by the surrounding situation detection sensor group 4. The start position setting unit 32 outputs information on the start position to the route generation unit 34.

The target parking position determination unit 33 detects one or more parking frames existing around the vehicle 1 based on the surrounding situation detected by the surrounding situation detection sensor group 4.
The target parking position determination unit 33 receives an instruction signal corresponding to an operation performed by the driver in the operation device 7 via the communication device 6. The target parking position determination unit 33 receives an instruction signal for selecting a parking frame on the parking operation reception screen 50 from the operation device 7. The target parking position determination unit 33 sets the target parking position in the driving frame selected by the driver among the detected parking frames. The target parking position determination unit 33 transmits the target parking position to the operation device 7 via the communication device 6.

The route generation unit 34 generates a parking route from the parking operation start position set by the start position setting unit 32 to the target parking position determined by the target parking position determination unit 33. The route generation unit 34 outputs the generated parking route information to the tracking control unit 35.
The follow-up control unit 35 calculates the target steering angle of the vehicle 1 so that the current position of the vehicle 1 estimated by the current position estimation unit 31 is located on the parking route generated by the route generation unit 34. The follow-up control unit 35 outputs information on the calculated target steering angle to the steering control unit 36.

The steering control unit 36 calculates the operation amount of the steering actuator 12 so as to reduce the difference between the actual steering angle of the vehicle 1 and the target steering angle calculated by the tracking control unit 35. The steering control unit 36 outputs the calculated operation amount to the steering actuator 12.
The speed control unit 37 calculates the operation amounts of the accelerator opening actuator 13 and the brake control actuator 14 so that the vehicle 1 travels only while the touch operation is received in the operation reception area 57 of the “Go” button.

For example, the controller device 7 transmits a travel instruction signal for traveling the vehicle 1 only while a touch operation is received in the operation reception area 57.
For example, the controller device 7 may continuously transmit a travel instruction signal while continuously receiving touch operations in the operation reception area 57. Further, for example, the controller device 7 may transmit a travel instruction signal at a constant period T0 while continuously receiving touch operations in the operation reception area 57. The speed control unit 37 receives a travel instruction signal via the communication device 6.
In addition, the controller device 7 may transmit a travel instruction signal when the touch operation of the operation reception area 57 starts, and may transmit a stop instruction signal that stops the vehicle 1 when the touch operation ends.

  The speed control unit 37 calculates the operation amounts of the accelerator opening actuator 13 and the brake control actuator 14 so that the vehicle 1 travels only while the touch operation is received in the operation reception area 57. For example, the speed control unit 37 calculates the operation amounts of the accelerator opening actuator 13 and the brake control actuator 14 so that the vehicle 1 travels only while the travel instruction signal is continuously received. For example, the speed control unit 37 calculates the operation amounts of the accelerator opening actuator 13 and the brake control actuator 14 so that the vehicle 1 travels only while receiving the travel instruction signal at a constant period T0. For example, the speed control unit 37 calculates the operation amounts of the accelerator opening actuator 13 and the brake control actuator 14 so that the vehicle 1 travels from the reception of the travel instruction signal to the reception of the stop instruction signal.

On the other hand, when the touch operation on the operation reception area 57 is interrupted, the speed control unit 37 calculates the operation amounts of the accelerator opening actuator 13 and the brake control actuator 14 so that the vehicle 1 stops.
For example, when the reception of the travel instruction signal is interrupted, the speed control unit 37 calculates the operation amounts of the accelerator opening actuator 13 and the brake control actuator 14 so that the vehicle 1 stops. For example, the speed control unit 37 calculates the operation amounts of the accelerator opening actuator 13 and the brake control actuator 14 so that the vehicle 1 stops when the reception interval of the travel instruction signal exceeds a certain period T0.
The speed control unit 37 outputs the calculated operation amount to the accelerator opening actuator 13 and the brake control actuator 14.

The communication status determination unit 38 determines the communication status between the communication device 6 and the operation device 7. Hereinafter, the communication status between the communication device 6 and the operation device 7 is simply referred to as “communication status”.
For example, the communication status determination unit 38 may determine the data transfer rate as the communication status. Further, for example, the communication status determination unit 38 may determine the presence / absence of a risk that a failure occurs in communication between the communication device 6 and the operation device 7 (hereinafter referred to as “communication failure risk”) as the communication status. .

For example, the communication status determination unit 38 measures the data transfer rate at each time point, creates a communication status profile that is a time series of the data transfer rate, and stores the profile in the storage device 16.
The communication status determination unit 38 reads the profile of the communication status and the length per unit time during which the communication between the communication device 6 and the operation device 7 is disconnected (hereinafter referred to as “communication disconnection time length”). Is calculated. The communication status determination unit 38 determines that there is a communication failure risk when the communication disconnection time length is longer than the risk determination threshold. Further, when the communication disconnection time length is equal to or less than the risk determination threshold, it is determined that there is no communication failure risk.
Please refer to FIG. The communication status determination unit 38 may change the risk determination threshold according to the data transfer rate. A solid line L1 indicates a function of the data transfer rate that determines the risk determination threshold.

For example, the risk determination threshold value may be 0 when the data transfer rate is less than v1. That is, when the data transfer rate is less than v1, the communication status determination unit 38 determines that there is a communication failure risk regardless of the data transfer rate.
When the data transfer rate is v1 or more, the risk determination threshold value may be a non-zero fixed value or an increase function of the data transfer rate.
The communication status determination unit 38 outputs information on the determined communication status to the communication device 6. The communication device 6 transmits information on the communication status to the operation device 7.

Next, the configuration of the operation device 7 will be described. Please refer to FIG. The operating device 7 includes a controller 20, a communication circuit 21, a display device 22, an interface 23, a speaker 26, and a vibrator 27.
The controller 20 includes a processor 24 and peripheral components such as a storage device 25. The processor 24 may be a CPU or MPU, for example. The storage device 25 may include any one of a semiconductor storage device, a magnetic storage device, and an optical storage device. The storage device 25 may include a register, a cache memory, and a memory such as a ROM and a RAM used as a main storage device. The controller 20 may be realized by a functional logic circuit set in a general-purpose semiconductor integrated circuit. For example, the controller 20 may have a PLD such as an FPGA.

The communication circuit 21 communicates with the communication device 6 via a wired or wireless communication line. The communication circuit 21 may communicate with the communication device 6 via short-range wireless communication such as Bluetooth (registered trademark), wireless LAN such as Wi-Fi (registered trademark), or public wireless communication.
The communication circuit 21 transmits an instruction signal corresponding to an operation performed by the driver in the operation device 7 to the communication device 6. Further, the communication circuit 21 receives the surrounding image 51, the target parking position information, and the communication status information from the communication device 6.

The display device 22 functions as a display unit and displays various types of information under the control of the controller 20. For example, a parking operation acceptance screen 50 shown in FIG. 3A may be displayed on the display device 22.
The interface 23 functions as an information input unit, and may include an input button, a touch panel provided on the display screen of the display device 22, and the like. The interface 23 is used for receiving an operation on the operation device 7 by the driver. For example, the interface 23 receives an operation on the parking operation reception screen 50.

The speaker 26 functions as an audio signal output unit, and outputs various audio signals under the control of the controller 20. For example, the speaker 26 is used for outputting various notification signals such as alarm sounds and messages.
The vibrator 27 generates vibration under the control of the controller 20. For example, the vibrator 27 generates a notification signal that notifies the occurrence of various events by vibrating the controller device 7.

  Next, the functional configuration of the controller device 7 will be described with reference to FIG. The controller 20 includes a communication processing unit 70, a display control unit 71, an operation reception unit 72, a control command setting unit 73, and a notification control unit 74. The processor 24 of the controller 20 executes the computer program stored in the storage device 25 to thereby function the communication processing unit 70, the display control unit 71, the operation reception unit 72, the control command setting unit 73, and the notification control unit 74. To realize.

The communication processing unit 70 performs communication processing with the vehicle control circuit 3 via a communication line between the communication circuit 21 and the communication device 6. For example, the communication processing unit 70 executes processing for transmitting an instruction signal according to an operation performed by the driver, and for receiving the surrounding image 51, information on the target parking position, and information on the communication status.
The display control unit 71 performs processing for displaying various screens on the display device 22. For example, the display control unit 71 displays the parking operation reception screen 50 shown in FIG. 3A on the display device 22.

When the communication processing unit 70 receives the target parking position information, the display control unit 71 displays a “Go” button in the display area 58 of the parking operation reception screen 50 (see FIG. 3B).
That is, the display control unit 71 displays the “Go” button indicating the operation reception area 57 that receives an operation of moving the vehicle 1 to the target parking position after the target parking position is set.
Note that the range of the operation reception area 57 of the “Go” button coincides with the range of the display area 58 when the touch operation of the operation reception area 57 is not yet performed. That is, the display control unit 71 displays the operation reception area 57 before receiving the touch operation on the display device 22.

The operation reception unit 72 performs processing for receiving an operation performed by the driver through the interface 23. For example, the operation reception unit 72 receives an operation of touching the surrounding image 51 and selecting the parking frame 54. The operation reception unit 72 receives a touch operation in the operation reception area 57 of the “Go” button and a touch operation in the operation reception area of the “Exit” button 55.
FIG. 6A shows the state of the operation reception area 57 after the driver performs an operation of touching the position P2 in the display area 58 (that is, the operation reception area 57) of the “Go” button in the state shown in FIG. 3B. .

When the operation accepting unit 72 accepts a touch operation on the operation accepting region 57, the operation accepting unit 72 expands the range of the operation accepting region 57. By expanding the range of the operation reception area 57, it becomes easy to touch the same operation reception area 57 after touching the operation reception area 57.
The operation reception unit 72 determines a range for expanding the operation reception area 57 in response to the reception of the touch operation according to the position P2 where the touch operation is received. Hereinafter, the position where the touch operation is received is referred to as “detection position of touch operation” or simply “detection position”.

Please refer to FIG. 6B and FIG. 6C. For example, the operation reception unit 72 expands the range of the operation reception area 57 so as to include an area 59 determined according to the detection position P2.
The example of the region 59 in FIG. 6B has a width x1 in the negative direction of the X axis and a width x2 in the positive direction on the basis of the detection position P2, and the height y1 in the negative direction and the height y2 in the positive direction of the Y axis. It is a rectangular area having. The direction of the X axis is the horizontal direction of the screen, and the direction of the Y axis is the vertical direction of the screen. x1 and x2 may be the same length or different lengths. y1 and y2 may be the same length or different lengths.
An example of the region 59 in FIG. 6C is a circle having a radius r centered on the detection position P2.

In this way, by defining a range for expanding the operation reception area 57 according to the detection position P2, the driver can continue to touch the same operation reception area 57 without looking at the display area 58 of the “Go” button. , Or touch again.
That is, when the detection position P2 is near the boundary of the display area 58 of the “Go” button (that is, the operation reception area 57 before expansion), while the operation reception area 57 is continuously touched or when it is touched again In addition, the position where the user touches unconsciously may deviate from the display area 58.
As a result, a touch operation on the operation reception area 57 cannot be received unless the operation reception area 57 is expanded as usual.

  On the other hand, by defining a range for extending the operation reception area 57 according to the detection position P2 as in the embodiment, the operation reception area 57 includes an allowable deviation width around the detection position P2 once touched. can do. For this reason, even if the position where the user touches unconsciously shifts, it is difficult to come off from the extended operation reception area 57. As a result, the driver can easily touch the same operation reception area 57 or touch it again without looking at the display area 58 of the “Go” button.

  In addition, since the vehicle 1 starts to move by the touch operation of the “Go” button as described above, it is necessary to suppress the driver's erroneous touch operation as much as possible. That is, the “Go” button needs to be an interface that can be operated as intended by the driver when a touch operation is started. For this reason, it is preferable that the operation reception unit 72 does not extend the operation reception area 57 outside the display area 58 before the touch operation of the operation reception area 57.

  Refer to FIG. 6A. The operation reception unit 72 may expand the operation reception area 57 so that the operation reception area 57 of the “Go button” overlaps with the operation reception area of the “Exit” button 55 which is another button. In this case, the operation reception area 57 may be prioritized over other buttons. That is, the operation reception unit 72 may determine that the touch operation is performed in the operation reception area 57 when the touch operation is detected in an overlapping portion between the operation reception area of another button and the operation reception area 57.

Further, when the touch operation in the operation reception area 57 is interrupted after the operation reception area 57 is expanded, the operation reception section 72 sets the operation reception area 57 to the range before expansion (that is, the same range as the display area 58). to shrink. In other words, the touch operation is received in the operation reception area 57, and the operation reception area 57 is expanded when the vehicle 1 is traveling. As a result, the operation reception area 57 can be expanded only when the driver tends to keep an eye on the operation device 7 in order to see the traveling vehicle 1.
On the other hand, in a state where the vehicle 1 is not traveling and it is easy to operate while looking at the operating device 7, the touch operation other than the display area 58 is prevented from being determined as the touch operation in the operation reception area 57, thereby driving The input of operations that are not intended by the user.

  When the touch operation in the operation reception area 57 is interrupted after the operation reception area 57 is expanded, the operation reception unit 72 takes a predetermined transition time and sets the operation reception area 57 in the range before expansion (that is, the display area 58 and the display area 58). (Same range). For example, the operation reception unit 72 may gradually reduce the operation reception area 57. For example, the operation reception unit 72 may maintain the expanded operation reception area 57 until a predetermined transition time elapses, and reduce the operation reception area 57 to a range before expansion after the predetermined transition time elapses.

  As described above, when the touch operation in the operation reception area 57 is interrupted, the operation reception area 57 starts to be reduced. Therefore, even if the driver intends to touch the operation reception area 57, it cannot be received as a touch operation in the operation reception area 57. There is. Therefore, when an operation other than the operation reception area 57 is performed after the touch operation in the operation reception area 57 is interrupted, the controller 20 generates a notification signal that informs that the operation reception area 57 is not operated.

  For example, when the interface 23 receives an operation of the controller device 7 after the touch operation in the operation reception area 57 is interrupted, the operation reception unit 72 determines whether or not this operation is a touch operation in the operation reception area 57. When the operation received through the interface 23 is not a touch operation in the operation reception area 57, the notification control unit 74 generates a notification signal notifying that the operation reception area 57 is not operated. The notification signal may be, for example, an audio signal output from the speaker 26, or may be vibration of the operation device 7 by the vibrator 27.

  In addition, the operation reception unit 72 may prohibit the touch operation in the operation reception area 57 when the communication status does not satisfy a predetermined allowable condition. When the communication status is poor, the travel instruction signal or the stop instruction signal does not reach, and the vehicle 1 may not travel or stop as operated by the driver. For this reason, when the communication status is poor, the operation of the operation reception area 57 is not accepted from the beginning, and the situation where the vehicle 1 does not travel or stop according to the driver's operation can be avoided.

  For example, when the communication processing unit 70 receives communication status information, the operation receiving unit 72 determines whether or not the communication status satisfies a predetermined allowable condition. When the communication status does not satisfy the predetermined allowable condition, the operation reception unit 72 prohibits the touch operation in the operation reception area 57. For example, the operation reception unit 72 may prohibit the touch operation in the operation reception area 57 when the data transfer speed is less than the threshold value. Further, for example, the operation reception unit 72 may prohibit a touch operation in the operation reception area 57 when there is a communication failure risk.

  The operation reception unit 72 does not need to expand the operation reception area of the “Exit” button 55 when a touch operation is received in the operation reception area of the “Exit” button 55. Or, when a touch operation is received in the operation reception area of the “Exit” button 55, the extent to which the operation reception area of the “Exit” button 55 is expanded extends the operation reception area 57 according to the touch operation of the operation reception area 57. You may be smaller than the grade to do. That is, when a touch operation is received in the operation reception area of the “Exit” button 55, the operation reception area is expanded. When a touch operation is received in the operation reception area 57, the operation reception area 57 is expanded. The degree may be different.

The driver tends to operate while looking away from the operation reception area 57 of the “Go” button, whereas the “Exit” button 55 is a button that is operated after the driver visually recognizes.
For this reason, if the operation reception area of the “Exit” button 55 is greatly expanded, even if the driver intentionally touches the outside of the “Exit” button 55, there is a possibility that the touch of the “Exit” button 55 is erroneously detected. is there. For this reason, erroneous detection of the touch operation of the “Exit” button 55 is suppressed by not expanding the operation reception area of the “Exit” button 55 or suppressing the extent of expansion.

  The control command setting unit 73 generates an instruction signal corresponding to the operation performed by the driver. The instruction signal may include a parking frame selection operation instruction signal, a travel instruction signal, a stop instruction signal, or an instruction signal for pressing the “Exit” button 55. The control command setting unit 73 outputs the generated instruction signal to the communication circuit 21.

(Operation)
Next, an example of the parking support method according to the first embodiment will be described. Please refer to FIG.
In step S1, the operation reception unit 72 determines whether the communication status satisfies a predetermined allowable condition. If the communication status satisfies a predetermined allowable condition (step S1: Y), the process proceeds to step S2. When the communication status does not satisfy the predetermined permissible condition (step S1: N), the operation reception unit 72 performs the touch operation in the operation reception area (that is, the operation reception area of the operation reception area 57 or the “Exit” button 55). The process proceeds to step S10 without determining the presence or absence. Thereby, the touch operation of the operation reception area is prohibited.

In step S <b> 2, the operation reception unit 72 determines whether or not the touch operation on the parking operation reception screen 50 is continued.
When the touch operation on the parking operation reception screen 50 is continued (step S2: Y), the process proceeds to step S6, and the “continuation operation reception process” is executed. In the continuous operation reception process, it is determined whether or not a touch operation that is continued on the parking operation reception screen 50 is performed in the operation reception area. Details of the continuous operation reception process will be described later with reference to FIG.

If the touch operation on the parking operation reception screen 50 is not continued (step S2: N), the process proceeds to step S3.
In step S <b> 3, the operation reception unit 72 determines whether a touch operation on the parking operation reception screen 50 has been detected. If a touch operation is detected (step S3: Y), the process proceeds to step S4. If a touch operation is not detected (step S3: N), the process proceeds to step S8.
In step S4, the operation reception unit 72 determines whether or not the range of the operation reception area is expanded.

When the range of the operation reception area is expanded (step S4: Y), the touch operation is interrupted after the range of the operation reception area is expanded by the previous touch operation, and the original state is taken over a predetermined transition time. This means that the touch operation on the parking operation reception screen 50 has been performed again before returning to step S2. That is, it means that the touch operation on the parking operation reception screen 50 is intermittently performed.
In this case, the process proceeds to step S7, and the “intermittent operation acceptance process” is executed. In the intermittent operation reception process, it is determined whether or not a touch operation is intermittently performed in the operation reception area. Details of the intermittent operation acceptance processing will be described later with reference to FIG.

If the range of the operation reception area is not expanded (step S4: N), it means that the operation reception area has not been operated yet, or that a considerable period has elapsed since the operation was interrupted. In this case, the process proceeds to step S5, and the “operation start process” is executed. In the operation start process, it is determined whether or not the touch operation in the operation reception area has started. Details of the operation start processing will be described later with reference to FIG.
After the operation start process in step S5, the continuous operation reception process in step S6, and the intermittent operation reception process in step S7, the process proceeds to step S10.

In step S8, the operation reception unit 72 determines whether or not the range of the operation reception area is expanded. If the range of the operation reception area is expanded (step S8: Y), the process proceeds to step S9. If the range of the operation reception area has not been expanded (step S8: N), the process proceeds to step S10.
In step S9, since the touch operation is not performed in the expanded operation reception area, the operation reception unit 72 gradually reduces the operation reception area to return the expanded operation reception area to the original range before the expansion. To do. Thereafter, the process proceeds to step S10.
In step S10, it is determined whether or not the ignition switch (IGN) of the vehicle 1 is turned off. If the ignition switch is turned off (step S10: Y), the process ends. If the ignition switch is not off (step S10: N), the process returns to step S1.

Next, the operation start process will be described with reference to FIG. In step S20, the operation reception unit 72 determines whether or not the detection position of the touch operation is included in the range A (that is, the range before expansion) of the current operation reception area.
When the detection position is included in the range A (step S20: Y), the operation reception unit 72 determines that the touch operation in the operation reception area has been performed, and advances the processing to step S21. When the detected position is not included in the range A (step S20: N), the operation start process ends.

When the operation reception area where the touch operation is performed is the operation reception area 57, the control command setting unit 73 generates a travel instruction signal in step S21. The control command setting unit 73 transmits a travel instruction signal to the vehicle control circuit 3 via the communication circuit 21.
In step S <b> 22, the operation reception unit 72 expands the operation reception area 57.
At this time, the operation reception unit 72 may determine whether the operation reception area where the touch operation is performed is the operation reception area 57 or the operation reception area of the “Exit” button 55.
When a touch operation is performed in the operation reception area 57, the operation reception unit 72 may expand the operation reception area 57 relatively large. When a touch operation is performed in the operation reception area of the “Exit” button 55, the operation reception unit 72 may expand the operation reception area of the “Exit” button 55 relatively small. The operation reception area of the “Exit” button 55 may not be expanded.
The operation reception area 57 is an operation reception area that generates an instruction signal continuously or intermittently for a plurality of times during the duration of the touch operation, and the operator keeps an eye on the operation reception area 57 and continuously. Alternatively, it is assumed that a touch operation is performed intermittently.
On the other hand, the operation reception area of the “Exit” button 55 is an operation reception area that causes the operation device 7 to execute the same processing regardless of the duration of the touch operation. The operator visually checks the “Exit” button 55. It is assumed that a touch operation is performed.

Next, referring to FIG. 9, the continuous operation reception process is referred to. In step S30, the operation reception unit 72 determines whether or not the detection position of the touch operation is included in the current operation reception area range A (that is, the expanded range).
When the detection position is included in the range A (step S30: Y), that is, when the detection position of the touch operation remains in the range A of the operation reception area, the operation reception unit 72 performs the touch operation in the operation reception area. It determines with continuing and advances a process to step S31.
On the other hand, when the detection position is not included in the range A (step S30: N), for example, when the detection position of the touch operation is shifted and deviates from the range of the operation reception area, the process proceeds to step S33.

When the operation reception area where the touch operation is performed is the operation reception area 57, the control command setting unit 73 generates a travel instruction signal in step S31. The control command setting unit 73 transmits a travel instruction signal to the vehicle control circuit 3 via the communication circuit 21.
In step S <b> 32, the operation reception unit 72 maintains the expanded operation reception area range A in an expanded state. Thereafter, the operation start process ends.
On the other hand, in step S33, the operation reception unit 72 gradually reduces the operation reception area in order to return the expanded operation reception area to the original range before expansion. Thereafter, the operation start process ends.

  Next, the intermittent operation acceptance process is referred to with reference to FIG. In step S <b> 40, the operation reception unit 72 determines whether the detection position of the touch operation is included in the range A of the current operation reception area. When the intermittent operation reception process is executed, the previously performed touch operation in the operation reception area is not continued (step S2 in FIG. 7: N). For this reason, the current range A of the operation reception area is in the process of being reduced from the range B (that is, the range before the touch operation is interrupted) B expanded by the previously performed touch operation.

When the detection position is included in the range A (step S40: Y), that is, when the detection position of the touch operation performed again remains in the range A of the operation reception area being reduced, the operation reception unit 72 performs the operation It is determined that the touch operation in the reception area is performed intermittently, and the process proceeds to step S41.
On the other hand, when the detection position is not included in the range A (step S40: N), for example, when the detection position of the touch operation performed again deviates from the range of the operation reception area, the process proceeds to step S43. .

When the operation reception area where the touch operation is performed is the operation reception area 57, in step S41, the control command setting unit 73 generates a travel instruction signal. The control command setting unit 73 transmits a travel instruction signal to the vehicle control circuit 3 via the communication circuit 21.
In step S42, the operation reception unit 72 returns the range A of the operation reception area being reduced to the range B before the interruption of the touch operation.
At this time, the operation reception unit 72 may determine whether the operation reception area where the touch operation is performed is the operation reception area 57 or the operation reception area of the “Exit” button 55.
When a touch operation is performed in the operation reception area 57, the operation reception unit 72 returns to a relatively greatly expanded state before the touch operation is interrupted. When a touch operation is performed in the operation reception area of the “Exit” button 55, the operation reception unit 72 returns to a relatively small and expanded state before the touch operation is interrupted.
Thereafter, the intermittent operation acceptance process ends.

On the other hand, in step S43, the operation reception unit 72 determines whether or not the detection position of the touch operation is included in the difference between the current range A of the operation reception area and the range B of the operation reception area before the touch operation is interrupted. Determine.
In order to determine whether or not the detection position of the touch operation is out of the current range A of the operation reception area by reducing the operation reception area even though the driver intends to perform the touch operation of the operation reception area. is there.

  When the detection position of the touch operation is included in the difference between the current range A and the range B before the touch operation is interrupted (step S43: Y), the operation reception unit 72 performs the touch operation in the operation reception area. The process proceeds to step S44. If the detected position of the touch operation is not included in the difference between the current range A and the range B before the interruption of the touch operation (step S43: N), the process proceeds to step S46.

In step S44, the operation reception unit 72 determines whether or not the interruption period of the touch operation in the operation reception area is within the predetermined threshold Tt. If the interruption period is within the predetermined threshold Tt, the process proceeds to step S45. If the interruption period is longer than the predetermined threshold value Tt, the process proceeds to step S46.
In step S45, the notification controller 74 generates a notification signal notifying that the operation reception area is not operated. Thereafter, the process proceeds to step S46.
In step S46, the operation reception unit 72 gradually reduces the operation reception area in order to return the operation reception area to the original range before expansion. Thereafter, the intermittent operation acceptance process ends.

(Effect of embodiment)
(1) The target parking position determination unit 33 of the vehicle control circuit 3 sets the target parking position of the vehicle 1. The route generation unit 34, the follow-up control unit 35, the steering control unit 36, and the speed control unit 37 park the vehicle 1 at the target parking position by automatic driving according to the touch operation received in the operation reception area 57 of the operation device 7. Let The operation reception unit 72 of the operation device 7 expands the operation reception area 57 after receiving a touch operation in the operation reception area 57.
This makes it easy to touch the same operation reception area 57 after touching the operation reception area 57. For example, even if the position of the touch operation is shifted against the operator's intention, it can be determined that the touch operation is still performed.

(2) The route generation unit 34 generates a route for parking the vehicle at the target parking position. The follow-up control unit 35, the steering control unit 36, and the speed control unit 37 move the vehicle 1 on the route only while the touch operation is received in the operation reception area 57 of the operation device 7.
As described above, the vehicle 1 moves to the target parking position by continuously or intermittently performing the touch operation on the operation reception area 57. In such a continuous or intermittent touch operation, even if the position of the touch operation is shifted against the operator's intention, it is determined that the touch operation has been performed in the operation reception area 57. For this reason, the operator can easily operate the operating device 7 while looking away from the operating device 7 and viewing the position of the vehicle 1.

(3) The display control unit 71 displays the operation reception area 57 before receiving the touch operation on the display device 22 included in the operation device 7. Thereby, the operator can grasp | ascertain the operation reception area | region 57 which should perform touch operation before touch operation. For this reason, the operator can surely perform a touch operation in the operation reception area 57.
(4) The display control unit 71 displays the operation reception area 57 on the display device 22 after the target parking position determination unit 33 sets the target parking position. Thereby, the controller device 7 can display the operation reception area 57 at a timing when the operator needs to operate the operation reception area 57. Therefore, the operator can reliably operate the operation reception area 57.

(5) The operation reception unit 72 determines a range in which the operation reception area 57 is expanded according to the reception of the touch operation according to the position P2 where the touch operation is received.
As a result, the allowable deviation width around the position P2 once touched can be expanded to be included in the operation reception area 57. For this reason, even if the position where the user touches unconsciously shifts, it is difficult to come off from the extended operation reception area 57. As a result, it is easy to keep touching the same operation reception area 57 or touch again without looking at the controller device 7.

(6) When the touch operation in the operation reception area 57 is interrupted after expanding the operation reception area 57, the operation reception section 72 reduces the operation reception area 57 to the range before expansion over a predetermined transition time.
If the operation reception area 57 is reduced to the original range immediately after the touch operation is interrupted, in the intermittent touch operation, when the touch operation is performed again, the operation reception area 57 is not expanded, and the operation reception area 57 is touched. It will not be easy.
By keeping the operation receiving area 57 expanded for a predetermined transition time after the touch operation is interrupted, it becomes easy to touch the same operation receiving area 57 again.

(7) The operation reception unit 72 determines whether the operation performed on the operation device 7 after the interruption of the touch operation in the operation reception area 57 is a touch operation in the operation reception area 57. When the operation performed on the operation device 7 is not a touch operation in the operation reception area 57, the notification control unit 74 generates a notification signal notifying that the operation reception area 57 is not operated.
When the touch operation in the operation reception area 57 is interrupted, the operation reception area 57 starts to be reduced. Therefore, even if the driver intends to touch the operation reception area 57, the operation reception area 57 may not be accepted as a touch operation. By notifying that the operation reception area 57 is not operated, the state where the operator intends to perform a touch operation on the operation reception area 57 can be solved.

(8) The communication status determination unit 38 determines the communication status between the operation device 7 operated outside the vehicle 1 and the vehicle 1. The operation accepting unit 72 prohibits a touch operation in the operation accepting region 57 when the communication status does not satisfy a predetermined allowable condition.
Thereby, when a communication condition is bad, a driving | running | working instruction | indication signal and a stop instruction | indication signal do not reach, and the situation where the vehicle 1 does not drive | work or stop according to a driver | operator's operation can be avoided.

(9) The controller device 7 further includes an operation reception area of the “Exit” button 55 as a second operation reception area. The extent to which the operation reception area 57 is expanded when a touch operation is received in the operation reception area 57, and the operation reception area of the “Exit” button 55 when a touch operation is received in the operation reception area of the “Exit” button 55 The degree of expansion is different.
Accordingly, the operation reception area of the “Exit” button 55 that is operated after the driver visually recognizes can be expanded or the expansion range can be suppressed more than the operation reception area 57. Thus, by not expanding the operation reception area of the “Exit” button 55 or suppressing the range of expansion, it is possible to suppress erroneous detection of the touch operation of the “Exit” button 55.

  (10) The operation reception unit 72 expands the operation reception area 57 when the vehicle 1 is traveling. As a result, the operation reception area 57 can be expanded only when the driver tends to keep an eye on the operation device 7 in order to see the traveling vehicle 1. On the other hand, in a state where the vehicle 1 is not traveling and it is easy to operate while looking at the operating device 7, the touch operation other than the display area 58 is prevented from being determined as the touch operation in the operation reception area 57, thereby driving Input of an operation contrary to the intention of the person can be suppressed.

(Modification)
The position of the operation reception area that receives the touch operation on the parking operation reception screen 50 is determined according to the usage status of the operation device 7 and the usage of the operator. For this reason, the position of the operation reception area may change depending on conditions such as the usage status of the operation device 7 and the usage of the operator.
Please refer to FIG. 11A and FIG. 11B. Now, when the direction of gripping the controller device 7 displaying the parking operation reception screen 50 shown in FIG. 11A is rotated 90 degrees counterclockwise, the parking operation reception screen 50 changes as shown in FIG. 11B. Suppose.

In this case, the position of the operation reception area of the “Go” button changes from the range indicated by reference numeral 57 to the range indicated by reference numeral 90. Further, the position of the display area of the “Go” button changes from the range indicated by reference numeral 58 to the range indicated by reference numeral 91.
As described above, the operation reception unit 72 changes the area for receiving the operation of the “Go” button from the operation reception area 57 to the second operation reception area when a predetermined condition such as a direction of holding the operation device 7 is satisfied. Switch to 90.

  Here, when the parking operation reception screen 50 is rotated unexpectedly while the touch operation of the operation reception area 57 of the parking operation reception screen 50 shown in FIG. 11A is continued, the area for receiving the operation of the “Go” button is switched. The vehicle 1 may stop against the driver's intention. For example, the parking operation reception screen 50 may be unexpectedly rotated by an operation such as lowering an arm that holds the operation device 7.

Therefore, the operation accepting unit 72 in the modified example switches from the operation accepting region 57 to the second operation accepting region 90, which satisfies the predetermined condition while the operation accepting region 57 is expanded, and accepts the operation of the “Go” button. However, the reception of the touch operation in the operation reception area 57 is continued.
For this reason, even if the area for accepting the operation of the “Go” button is moved unexpectedly while the touch operation of the operation accepting area 57 is continued, the vehicle 1 is prevented from stopping against the driver's intention. it can. In addition, even when the operation receiving area 57 is intermittently touched and the area for receiving the operation of the “Go” button is moved unexpectedly, the vehicle 1 stops against the driver's intention. Can be prevented.

  It goes without saying that the present invention includes various embodiments not described herein. Therefore, the technical scope of the present invention is defined only by the invention specifying matters according to the scope of claims reasonable from the above description.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... Parking assistance apparatus, 3 ... Vehicle control circuit, 4 ... Ambient condition detection sensor group, 5 ... Actuator group, 6 ... Communication apparatus, 7 ... Operation apparatus, 10 ... Camera, 11 ... Ranging sensor, 12 DESCRIPTION OF SYMBOLS ... Steering actuator, 13 ... Accelerator opening actuator, 14 ... Brake control actuator, 15 ... Processor, 16 ... Storage device, 20 ... Controller, 21 ... Communication circuit, 22 ... Display device, 23 ... Interface, 24 ... Processor, 25 ... Storage device, 26 ... Speaker, 27 ... Vibrator, 30 ... Ambient image generation unit, 31 ... Current position estimation unit, 32 ... Start position setting unit, 33 ... Target parking position determination unit, 34 ... Route generation unit, 35 ... Tracking control 36, steering control unit, 37 ... speed control unit, 38 ... communication status determination unit, 70 ... communication processing unit, 71 ... display control unit, 72 ... operation With section, 73 ... control instruction setting unit, 74 ... notification control section

Claims (12)

Set the target parking position of the vehicle,
In response to the touch operation received in the operation reception area of the operating device, the vehicle is parked at the target parking position by automatic driving,
Expanding the operation reception area after receiving a touch operation in the operation reception area;
A parking assistance method characterized by that. Generating a route for parking the vehicle at the target parking position;
The vehicle is moved on the route only while a touch operation is received in the operation reception area of the operation device.
The parking support method according to claim 1, wherein:   The parking support method according to claim 1 or 2, wherein the operation reception area before the touch operation is received is displayed on a display device provided in the operation device.   The parking support method according to claim 3, wherein the operation reception area is displayed on the display device after the target parking position is set.   The parking support method according to any one of claims 1 to 4, wherein a range in which the operation reception area is expanded according to reception of a touch operation is determined according to a position where the touch operation is received.   6. When a touch operation in the operation reception area is interrupted after expanding the operation reception area, the operation reception area is reduced to a range before expansion over a predetermined transition time. The parking assistance method according to any one of the above. Determining whether the operation performed on the operation device after the interruption of the touch operation in the operation reception area is a touch operation in the operation reception area;
When the operation performed on the operation device is not a touch operation in the operation reception area, a notification signal is generated to notify that the operation reception area is not operated.
The parking support method according to claim 6. Determining the communication status between the vehicle and the operating device operated outside the vehicle;
The parking support method according to any one of claims 1 to 7, wherein a touch operation in the operation reception area is not received when the communication status does not satisfy a predetermined allowable condition. The operating device further includes a second operation receiving area,
The extent to which the operation acceptance area is expanded when a touch operation is accepted in the operation acceptance area, and the extent to which the second operation acceptance area is expanded when a touch operation is accepted in the second operation acceptance area. The parking assistance method according to claim 1, wherein the parking assistance method is different. The operating device further includes a second operation receiving area,
When a predetermined condition is satisfied during a period in which the operation reception area is not expanded, the area for receiving a touch operation is switched from the operation reception area to the second operation reception area.
Even if a predetermined condition is satisfied during a period in which the operation reception area is expanded by a touch operation, the reception of the touch operation in the expanded operation reception area is continued.
The parking assistance method according to any one of claims 1 to 8, wherein   The parking support method according to claim 1, wherein the operation reception area is expanded when the vehicle is traveling. A vehicle control circuit that sets a target parking position of the vehicle and parks the vehicle at the target parking position by automatic driving, and transmits an instruction signal to the vehicle control circuit according to a touch operation received in the operation reception area. A parking support device comprising an operation device,
The vehicle control circuit parks the vehicle at the target parking position in response to the instruction signal,
The operation device includes a controller that expands the operation reception area after receiving a touch operation in the operation reception area.
A parking assistance device characterized by that.

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