JP2018130994A - Parking support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve setting accuracy of a target parking position than before.SOLUTION: A parking support device 100 is configured to support parking of an own vehicle VM in a parking space PS adjacent to a parking vehicle PV by being mounted in the own vehicle VM. The parking support device 100 includes: a type determination section 161; and a target position setting section 162. The type determination section 161 determines a vehicle type of the parking vehicle VM adjacent to the parking space PS on the basis of a recognition result of an outer shape or external appearance of the parking vehicle VM. The target position setting section 162 sets a target parking position TP of the own vehicle VM in the parking space PS on the basis of the vehicle type of the parking vehicle VM adjacent to the parking space PS, which is determined by the type determination section 161.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a parking assistance device.

  As a device that supports parking of the host vehicle in a parking space, for example, a parking support device described in Patent Document 1 is known. The parking assist device described in Patent Document 1 determines a temporary parking position (that is, a temporary target parking position) using a distance measuring sensor such as an ultrasonic sensor, and determines a parking route for reaching the temporary parking position. The parking support process is executed along the determined parking route. In the case of side-by-side parking, the temporary parking position is determined, for example, so that the front end of the host vehicle coincides with the end face on the side of the adjacent parked vehicle.

JP 2014-76696 A

  With this type of device, there is still room for improvement in terms of the accuracy of the target parking position. The present invention has been made in view of the circumstances exemplified above.

  The parking assistance device (100) according to claim 1 is mounted on the own vehicle (VM), thereby assisting the parking of the own vehicle in a parking space (PS) adjacent to the parked vehicle (PV1, PV2). Is configured to do.

This parking assistance device
A type determination unit (161) for determining a vehicle type of the parked vehicle based on a recognition result relating to the outer shape or appearance of the parked vehicle;
A target position setting unit (162) for setting a target parking position (TP) of the host vehicle in the parking space based on the vehicle type determined by the type determination unit;
It has.

  Reference numerals in parentheses attached to each means in the above and claims column indicate an example of a correspondence relationship between the means and specific means described in the embodiments described later.

It is a block diagram which shows the schematic function structure of the parking assistance apparatus which concerns on embodiment. It is the schematic which shows a mode that the own vehicle carrying the parking assistance apparatus shown by FIG. 1 parks in parallel. It is the schematic which shows a mode that the own vehicle carrying the parking assistance apparatus shown by FIG. 1 carries out parallel parking. It is a flowchart which shows the operation example of the parking assistance apparatus shown by FIG. It is a flowchart which shows the operation example of the parking assistance apparatus shown by FIG. It is a flowchart which shows the operation example of the parking assistance apparatus shown by FIG. It is a flowchart which shows the operation example of the parking assistance apparatus shown by FIG. It is a flowchart which shows one modification of the operation example of the parking assistance apparatus shown by FIG. It is a flowchart which shows one modification of the operation example of the parking assistance apparatus shown by FIG. It is a flowchart which shows the modification of the target parking position setting process shown by FIG. It is a flowchart which shows the other modification of the target parking position setting process shown by FIG. It is a flowchart which shows the further another modification of the target parking position setting process shown by FIG. It is the schematic which shows the example of a display of the target parking position candidate in the image display apparatus shown by FIG. It is the schematic which shows the example of a display of the target parking position candidate in the image display apparatus shown by FIG. It is a flowchart which shows the other modification of the operation example of the parking assistance apparatus shown by FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that various modifications applicable to the embodiment will be described collectively as a modified example after the description of the series of embodiments.

(Constitution)
First, the configuration of the parking assistance apparatus 100 according to the present embodiment will be described with reference to FIGS. 1, 2A, and 2B. In addition, the own vehicle VM means the vehicle carrying the parking assistance apparatus 100 which concerns on this embodiment.

  Hereinafter, for simplification of description, the direction in which the host vehicle VM can travel by traveling at a shift position for traveling other than reverse (that is, reverse) is referred to as “vehicle traveling direction”, and the vehicle traveling direction side is referred to as “front side”. Alternatively, it is referred to as “front”, and the opposite side is referred to as “rear” or “rear”. Further, when the X-axis positive direction in the right-handed system XYZ coordinate system is matched with the vehicle traveling direction of the host vehicle VM, the Z-axis positive direction in the same coordinate system is set in the direction opposite to the gravity action direction. The Y axis positive direction side is referred to as “left side” or “left side”, and the opposite side is referred to as “right side” or “right side”. 2A and 2B are mainly expressed with reference to the host vehicle VM.

  The parking assist device 100 according to the present embodiment is configured to support parking of the host vehicle VM in the parking space PS adjacent to the parked vehicle PV by being mounted on the host vehicle VM. Specifically, the parking assist device 100 includes an FL distance sensor 111, an FR distance sensor 112, an RL distance sensor 113, an RR distance sensor 114, a front camera 121, a rear camera 122, a left Direction camera 123, right camera 124, vehicle speed sensor 131, rudder angle sensor 132, shift position sensor 133, image display device 141, audio output device 142, input device 143, torque control ECU 151, A braking control ECU 152 and a parking assistance ECU 160 are provided. Note that ECU is an abbreviation for Electronic Control Unit.

  The FL distance sensor 111, the FR distance sensor 112, the RL distance sensor 113, and the RR distance sensor 114 serving as distance sensors transmit an exploration wave (for example, an ultrasonic wave) toward the outside of the host vehicle VM. At the same time, it is provided so as to receive a received wave resulting from reflection of a search wave by an object existing outside the host vehicle VM. The received wave has an intensity corresponding to the distance between the host vehicle VM and the object.

  The FL distance measuring sensor 111 is attached to the left front portion of the side surface of the host vehicle VM so as to transmit an exploration wave to the left side of the host vehicle VM along the vehicle width direction of the host vehicle VM. The FR distance measuring sensor 112 is attached to the right front portion of the side surface of the host vehicle VM so as to transmit an exploration wave to the right side of the host vehicle VM along the vehicle width direction of the host vehicle VM. The RL distance measuring sensor 113 is attached to the left rear portion of the side surface of the host vehicle VM so as to transmit an exploration wave to the left side of the host vehicle VM along the vehicle width direction of the host vehicle VM. The RR distance measuring sensor 114 is attached to the right rear portion of the side surface of the host vehicle VM so as to transmit an exploration wave to the right side of the host vehicle VM along the vehicle width direction of the host vehicle VM.

  The front camera 121, the rear camera 122, the left camera 123, and the right camera 124 as an imaging unit are digital camera devices including an image sensor such as a CCD, and correspond to images around the host vehicle VM. It is provided to acquire image information.

  The front camera 121 is mounted on the front surface of the host vehicle VM so as to acquire image information corresponding to an image in front of the host vehicle VM. The rear camera 122 is attached to the rear surface portion of the host vehicle VM so as to acquire image information corresponding to an image behind the host vehicle VM. The left camera 123 is attached to a left door mirror in the host vehicle VM so as to acquire image information corresponding to the left image of the host vehicle VM. The right camera 124 is attached to a right door mirror in the host vehicle VM so as to acquire image information corresponding to an image on the right side of the host vehicle VM.

  The vehicle speed sensor 131 is provided so as to generate a signal corresponding to the traveling speed of the host vehicle VM and transmit the signal to the parking assist ECU 160. The steering angle sensor 132 is provided so as to generate a signal corresponding to the steering angle of the host vehicle VM and transmit the signal to the parking assist ECU 160. The shift position sensor 133 is provided so as to generate a signal corresponding to the shift position of the host vehicle VM and transmit the signal to the parking assist ECU 160. Since the configurations of the vehicle speed sensor 131, the rudder angle sensor 132, and the shift position sensor 133 are already well known, in the present specification, description of further details thereof will be omitted.

  The image display device 141, the audio output device 142, and the input device 143 are disposed in the passenger compartment of the host vehicle VM. The image display device 141 is a liquid crystal display panel, and is provided so as to display an image accompanying a parking assistance operation under the control of the parking assistance ECU 160. The sound output device 142 is a speaker device, and is provided so as to perform sound output accompanying the parking support operation under the control of the parking support ECU 160. The input device 143 includes at least one of a touch panel superimposed on the image display device 141, an operation switch disposed around the image display device 141, a voice microphone disposed near the driver's seat, and the like. It is provided to accept user input associated with the parking assist operation.

  The torque control ECU 151 is provided so as to control the engine output in the host vehicle VM during the parking support operation by controlling the operation of an injector (not shown) based on the signal received from the parking support ECU 160. The braking control ECU 152 is provided so as to control a braking force in the host vehicle VM during a parking assistance operation by driving a brake actuator (not shown) based on a signal received from the parking assistance ECU 160.

  The parking assist ECU 160 is electrically connected to each of the above parts. That is, the parking assist ECU 160 includes the FL distance sensor 111, the FR distance sensor 112, the RL distance sensor 113, the RR distance sensor 114, the front camera 121, the rear camera 122, the left camera 123, the right camera 124, the vehicle speed. Based on the signals and information received from the sensor 131, the rudder angle sensor 132, the shift position sensor 133, and the like, a signal and information for parking support operation are generated, and the generated signal and information are displayed as an image display device 141 and a sound output device. 142, the torque control ECU 151, the brake control ECU 152, and the parking support ECU 160 are configured to execute a parking support operation.

  The parking assist ECU 160 is a so-called in-vehicle microcomputer, and includes a CPU, a ROM, a RAM, a nonvolatile RAM, an input / output interface, and the like (not shown). The non-volatile RAM is, for example, a flash ROM. Parking assistance ECU160 is comprised so that various control operation | movement is realizable because CPU reads a program from ROM or non-volatile RAM, and executes it. This program includes a program corresponding to each routine described later. The ROM or nonvolatile RAM stores various data used in executing the program in advance. The various data includes, for example, initial values, lookup tables, maps, vehicle standard values, vehicle specifications of the host vehicle VM, and the like.

  The parking assist ECU 160 includes a type determination unit 161, a target position setting unit 162, and a target position correction unit 163 as internal functions. The type determination unit 161 determines the vehicle type of the parked vehicle PV based on the recognition result regarding the outer shape or appearance of the parked vehicle PV. The target position setting unit 162 sets the target parking position TP of the host vehicle VM in the parking space PS based on the vehicle type determined by the type determination unit 161. The target position correcting unit 163 determines the target parking position TP during the entry of the host vehicle VM into the parking space PS based on the recognition result regarding the outer shape or appearance of the parked vehicle PV while the host vehicle VM enters the parking space PS. Is to be corrected.

  Note that the parking assist ECU 160 is configured to be capable of three-dimensionally recognizing a feature shape of an object or the like existing outside the host vehicle VM by so-called SFM technology. SFM is an abbreviation for Structure From Motion. The SFM technology is already well known at the time of filing this application. For example, see Japanese Patent No. 5012615, Japanese Patent No. 5714940, and the like. Therefore, in this specification, a detailed description of the SFM technique or the SFM process is omitted.

(Overview of operation)
Hereinafter, an outline of the operation of the parking assistance device 100 according to the present embodiment, that is, the parking assistance ECU 160 will be described with reference to FIGS. 1, 2A, and 2B.

  FIG. 2A shows the case of parallel parking, and FIG. 2B shows the case of parallel parking. Parallel parking is a parking mode in which the host vehicle VM is parked such that the parked vehicle PV and the host vehicle VM are arranged along the vehicle width direction of the host vehicle VM. For simplification of explanation, in this operation outline description, as shown in FIG. 2A, parallel parking is performed in the arrangement direction of the parking vehicle PV and the parking space PS in the parking zone PZ, and the parking vehicle PV and the parking space. It is assumed that the parking mode is such that the vehicle full length direction in PS is substantially orthogonal to each other. On the other hand, the parallel parking is a parking mode in which the host vehicle VM is parked such that the parked vehicle PV and the host vehicle VM are arranged along the entire vehicle length direction of the host vehicle VM.

  In order to simplify the explanation, in this explanation of the operation outline, as shown in FIGS. 2A and 2B, the left side of the own vehicle VM while the own vehicle VM is traveling on the vehicle passage VP (for example, a general road). The case where the parking space PS is detected in the parking zone PZ adjacent to the vehicle passage VP and parallel parking or parallel parking in the parking space PS is executed will be described. Moreover, in this operation | movement outline | summary description, the case where the parking space PS is provided for one vehicle between the 1st parked vehicle PV1 and the 2nd parked vehicle PV2 is demonstrated. The first parking vehicle PV1 is a vehicle parked behind the parking space PS. The second parking vehicle PV2 is a vehicle parked ahead of the parking space PS. Even when the first parked vehicle PV1 or the second parked vehicle PV2 does not exist, supplementary explanations are made as appropriate in the description of the following operation examples.

  In the case of the parallel parking shown in FIG. 2A, the host vehicle VM is normally parked in the parking space PS by so-called reverse parking. Similarly, the parked vehicle PV is usually parked by reverse parking. Therefore, for simplification of description, the end and the end surface of the parked vehicle PV (that is, the first parked vehicle PV1 and the second parked vehicle PV2) that are close to the host vehicle VM are referred to as “front end” and “front end surface”. ". On the other hand, the end and end surface of the parked vehicle PV that are farthest from the host vehicle VM are referred to as “rear end” and “rear end surface”. Some parking vehicles PV may be parked by forward parking. However, in this case, the rear end and the rear end surface of the parked vehicle PV are the end and end surface on the side close to the host vehicle VM in the parking assist operation of the host vehicle VM. There is no inconvenience even if it is handled as “front end face”.

  The definitions of “front end” and “rear end” in the parked vehicle PV as described above are also applied to the parking space PS. That is, the side of the parking space PS that is rectangular in a plan view that is close to the host vehicle VM is referred to as the “front end” of the parking space PS. Similarly, the side of the parking space PS that is close to the host vehicle VM is referred to as the “rear end” of the parking space PS.

  Furthermore, in this description of the operation outline, the following conditions are set. The vehicle type of the host vehicle VM is a normal automobile according to the Road Traffic Law, and has a vehicle total length of about 4000 to 5300 mm and a vehicle width of about 1650 to 1950 mm. In addition, the parking space PS has a size (for example, about 5500 mm × 2600 mm) targeting two types of vehicles, that is, a normal car and a light car of the above size. That is, in this description of the operation outline, the parking space PS does not include so-called small freight cars, large freight cars, buses, and other medium-sized cars and large-sized cars under the Road Traffic Law. However, as will be described later, the present invention is not limited to the above conditions. That is, the above-described conditions are merely for the sake of simplicity in describing one specific example of the present invention.

  In this description of the operation outline, the parking assist device 100 uses the FL distance measuring sensor 111 and the RL distance measuring sensor 113 mounted on the left side surface of the host vehicle VM in a known or well-known manner, and the front end surface of the parked vehicle PV. And a parking space PS in which no parked vehicle PV exists. In addition, the parking assistance device 100 uses the FL distance sensor 111, the RL distance sensor 113, the front camera 121, the rear camera 122, and the left camera 123 by a known or well-known method in a known or well-known manner. Recognize the appearance.

  The “outer shape” includes the total length of the parked vehicle PV, the vehicle width, tires, front and rear wheel positions, license plate positions, and the like. “Appearance” includes license plate color, license plate letters, tire rudder angle, and the like. That is, the recognition result regarding the outer shape or appearance of the parked vehicle PV is acquired by the reception wave in the FL distance sensor 111 and the RL distance sensor 113 and / or the front camera 121, the rear camera 122, and the left camera 123. Acquired based on image information.

  The parking assist device 100 (that is, the type determination unit 161) determines the vehicle type of the parked vehicle PV based on the recognition result regarding the outer shape or appearance of the parked vehicle PV. That is, for example, the recognition result is the image recognition result of the license plate in the parked vehicle PV. Alternatively, for example, the recognition result is a tire image recognition result in the parked vehicle PV. Alternatively, for example, the recognition result is a vehicle total length, a vehicle width, a tire position, a front-rear wheel interval, and the like in the parked vehicle PV acquired based on a received wave or image information.

  Specifically, for example, when the character color on the license plate or the color around the character is yellow, it is determined that the parked vehicle PV is a light vehicle. Alternatively, when the vehicle width is less than the predetermined value and the license plate position is offset from the center position in the vehicle width direction, it is determined that the parked vehicle PV is a light vehicle. Alternatively, when the front and rear wheel spacing is less than the predetermined value, it is determined that the parked vehicle PV is a light vehicle.

  The parking assist device 100 (that is, the target position setting unit 162) determines the parking space between the first parked vehicle PV1 and the second parked vehicle PV2 based on the determined vehicle types of the first parked vehicle PV1 and the second parked vehicle PV2. The target parking position TP of the host vehicle VM in the PS is set. The parking assistance apparatus 100 calculates the guidance route of the host vehicle VM to the set target parking position TP by a known or well-known method.

  The parking assistance apparatus 100 performs guidance processing of the host vehicle VM to the target parking position TP based on the set target parking position TP and the calculated guidance route. Thereby, the approach to the parking space PS of the own vehicle VM starts. At this time, for example, when it is determined that the engine output torque of the host vehicle VM needs to be increased or decreased, the parking assist ECU 160 outputs a torque control command to the torque control ECU 151. On the other hand, when it is determined that the host vehicle VM needs to be decelerated or stopped, the parking assist ECU 160 outputs a brake control command to the brake control ECU 152.

  Incidentally, there are various conditions around the host vehicle VM when the parking support process is executed. For example, when the surroundings of the host vehicle VM are dark at night or when the parking vehicle PV around the host vehicle VM has a large amount of mud or snow, it is difficult to recognize the license plate of the parked vehicle PV. There is a case. Alternatively, even if it is determined by normal license plate recognition that the parked vehicle PV is not a light vehicle, the actual vehicle size of the parked vehicle PV that is a normal vehicle may be the same as that of a light vehicle.

  In such a case, the target parking position TP based on the determined vehicle type may not be appropriate. Therefore, the parking assistance device 100 (that is, the target position correcting unit 163) is based on the recognition result regarding the outer shape or appearance of the first parked vehicle PV1 and the second parked vehicle PV2 while the host vehicle VM enters the parking space PS. The target parking position TP is corrected while the host vehicle VM enters the parking space PS.

(Operation example)
Hereinafter, a specific operation example (this may be referred to as a “specific example”) according to the configuration of the present embodiment, and effects achieved by the configuration of the present embodiment will be described with reference to flowcharts. In the drawings and the following description in the specification, “step” is simply abbreviated as “S”. In the following description of the flowchart, the CPU, ROM, RAM, and nonvolatile RAM of the parking assistance ECU 160 are simply referred to as “CPU”, “ROM”, “RAM”, and “nonvolatile RAM”, respectively.

  When the CPU detects a predetermined start trigger, the CPU reads out a program corresponding to the parking assistance processing routine shown in FIG. 3 from the ROM or the nonvolatile RAM and activates it. The start trigger is, for example, an input operation for turning on a parking assistance start switch (not shown) in the input device 143.

  When this routine is started, first, in S301, the CPU detects a parking space PS that is a space in which the host vehicle VM can be parked in the parking zone PZ. Since the detection process of the parking space PS in S301 is known or publicly known (for example, refer to Patent Document 1), detailed description thereof is omitted. After the process of S301, the CPU advances the process to S302.

  In S302, the CPU determines whether or not a parking space PS has been detected. When the parking space PS is detected (that is, S302 = YES), the CPU proceeds with the process to S303. On the other hand, when the parking space PS is not detected (that is, S302 = NO), the CPU returns the process to S301. That is, the CPU repeatedly executes the process of S301 until the parking space PS is detected.

  In S303, the CPU determines whether the parking of the host vehicle VM in the parking space PS detected this time is parallel parking or parallel parking. This parking mode determination can be performed based on the result of the input operation in the input device 143, for example. Alternatively, the parking mode determination is performed by, for example, the FL distance sensor 111, the FR distance sensor 112, the RL distance sensor 113, the RR distance sensor 114, the front camera 121, the rear camera 122, the left camera 123, and the right camera. Based on the recognition result using 124, the CPU can automatically determine.

  Specifically, for example, as described in Japanese Patent Application Laid-Open No. 2007-290433 and Japanese Patent No. 5126069, the parking mode can be automatically determined based on the image recognition result. Alternatively, for example, when the length of the end surface of the parked vehicle PV on the side close to the host vehicle VM detected using a distance measuring sensor such as the FL distance measuring sensor 111 is less than a predetermined value, the current parking is performed. It can be determined that the parking is parallel.

  When this parking is parallel parking (namely, S303 = YES), CPU advances a process to S304. On the other hand, when the current parking is parallel parking (that is, S303 = NO), the CPU advances the process to S305. In S304, the CPU executes a target parking position setting process for parallel parking. On the other hand, in S305, the CPU executes a target parking position setting process for parallel parking. These target parking position setting processes will be described later.

  After executing the process of S304 or S305 according to the determination result in S303, the CPU executes a route calculation process in S306. The route calculation process is a process of calculating the guidance route of the host vehicle VM to the target parking position TP set in S304 or S305. Since this process is known or publicly known (see, for example, Patent Document 1), detailed description thereof is omitted. In S306, the CPU stores the calculated guidance route in the RAM or the nonvolatile RAM.

  After the process of S306, the CPU proceeds with the process to S307. In S307, the CPU executes guidance processing of the host vehicle VM to the target parking position TP based on the set target parking position TP and the calculated guidance route. When the processing of S307 is completed, the CPU ends the series of processing of this routine.

  The flowchart shown in FIG. 4 shows an example of the target parking position setting process for parallel parking corresponding to S304 in the flowchart of FIG. In this target parking position setting process, first, the CPU extracts license plate images in the first parking vehicle PV1 and the second parking vehicle PV2 in S401. Next, in S402, the CPU determines whether one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle based on the extracted license plate image. That is, the process of S402 is equivalent to the process of determining whether or not the vehicle types of the first parked vehicle PV1 and the second parked vehicle PV2 are short types that are vehicle types whose total vehicle length is shorter than the own vehicle VM. To do.

  When neither the first parked vehicle PV1 nor the second parked vehicle PV2 is a light vehicle (that is, S402 = NO), the CPU ends the target parking position setting process after executing the processes of S403 and S404. Specifically, in S403, the CPU acquires the front end position (that is, the end position on the vehicle passage VP side) of the parked vehicle PV adjacent to the parking space PS, which is a normal car. The acquisition of the front end position is performed based on the received wave in the FL distance sensor 111 or the RL distance sensor 113, for example.

  In the side-by-side parking shown in FIG. 2A, when both the first parked vehicle PV1 and the second parked vehicle PV2 are ordinary cars, or when, for example, one is a regular car and the other does not exist, the parking space The target parking position TP in the PS can be set with reference to the front end position of the parked vehicle PV adjacent to the parking space PS, which is a normal car. Accordingly, in S404, the CPU sets the target parking position TP so that the front end position of the target parking position TP matches the front end position acquired in S403. In S404, the CPU stores the set target parking position TP in the RAM or the nonvolatile RAM.

  When one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle (that is, S402 = YES), the CPU executes the process of S405. In S405, the CPU determines whether or not the parked vehicle PV adjacent to the current parking space PS is only a light vehicle.

  When the parking vehicle PV adjacent to the parking space PS is only a light vehicle (ie, S405 = YES), both the first parking vehicle PV1 and the second parking vehicle PV2 are light vehicles, or one is a light vehicle. This is the case when the other does not exist. In this case, if the front end position of the parked vehicle PV, which is a light vehicle, matches the front end position of the target parking position TP, the rear end of the target parking position TP may protrude from the parking space PS. Therefore, in this case, the CPU executes the processes of S406 to S408, sets a target parking position TP different from that in S403 and S404, and then ends the target parking position setting process.

  Specifically, in S406, the CPU acquires the front end position of the parked vehicle PV that is a light vehicle. Next, in S407, the CPU determines the rear end position of the parked vehicle PV, which is a light vehicle, based on the front end position acquired in S406 and the standard information of the light vehicle stored in the ROM or nonvolatile RAM. presume. The rear end position estimated in S407 is hereinafter referred to as “estimated rear end position”. Subsequently, in S408, the CPU sets the target parking position TP so that the estimated rear end position matches the rear end position of the target parking position TP. In S408, the CPU stores the set target parking position TP in the RAM or the nonvolatile RAM.

  When one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle and the other is a regular vehicle (that is, S405 = NO), the parked vehicle (for example, the second in the example of FIG. 2A). It is appropriate to set the target parking position TP with reference to the front end position of the parked vehicle PV2). Therefore, in this case, after executing the processes of S403 and S404, the CPU ends the target parking position setting process.

  As described above, in this specific example, the target position setting unit 162 is configured such that the vehicle type of the parked vehicle PV adjacent to the parking space PS is the short type, and the parked vehicle PV in the full vehicle length direction is parallel parking. The target parking position TP is set based on the position in the vehicle full length direction of the end portion on the side close to the vehicle VM and the vehicle full length standard value in the short type. Thereby, generation | occurrence | production of malfunctions, such as the rear end of the target parking position TP protruding from the parking space PS, can be suppressed favorably. That is, according to this specific example, the setting accuracy of the target parking position TP is improved as compared with the conventional case.

  Moreover, as FIG. 2A shows, parking space PS is the 2nd parked vehicle PV2 which is a normal vehicle, and the 1st parked vehicle PV1 which is a light vehicle whose vehicle overall length becomes a standard shorter than a normal vehicle. May be located between. In this case, when the target parking position TP is set based on the end of the first parking vehicle PV1 that is a light vehicle that is close to the host vehicle VM, the rear end of the target parking position TP protrudes from the parking space PS, and the like. Can cause problems. In this regard, in this specific example, the target position setting unit 162 is not at the first parking vehicle PV1 that is a light vehicle, but at the end of the second parking vehicle PV2 that is a normal vehicle on the side close to the host vehicle VM. Based on this, the target parking position TP is set. Therefore, the occurrence of the above problems can be suppressed satisfactorily. That is, according to this specific example, the setting accuracy of the target parking position TP is improved as compared with the conventional case.

  The flowchart shown in FIG. 5 shows an example of the target parking position setting process for parallel parking, corresponding to S305 in the flowchart of FIG. In this target parking position setting process, first, in S501, the CPU extracts front and rear wheel positions in the first parked vehicle PV1 and the second parked vehicle PV2. Next, in S502, the CPU determines whether one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle based on the extracted front and rear wheel positions. That is, the processing content of S502 is the same as the processing content of S402, except that the information on which the determination is based is different.

  When neither the first parked vehicle PV1 nor the second parked vehicle PV2 is a light vehicle (that is, S502 = NO), the CPU ends the target parking position setting process after executing the processes of S503 and S504. Specifically, in S503, the CPU acquires the position of the front side surface (that is, the side surface on the vehicle passage VP side) of the parked vehicle PV adjacent to the parking space PS, which is a normal car. The acquisition of the front side surface position is performed based on the received wave in the FL distance measuring sensor 111 or the RL distance measuring sensor 113, for example.

  In the parallel parking shown in FIG. 2B, if both the first parked vehicle PV1 and the second parked vehicle PV2 are ordinary cars, or if, for example, one is a regular car and the other does not exist, the parking space The target parking position TP in the PS can be set on the basis of the front side surface position of the parked vehicle PV adjacent to the parking space PS, which is a normal car. Therefore, in S504, the CPU detects that the position of the front end of the target parking position TP (that is, the side on the vehicle passage VP side in the target parking position TP shown in FIG. 2B) is acquired in S503. The target parking position TP is set so as to coincide with the position. In S504, the CPU stores the set target parking position TP in the RAM or the nonvolatile RAM.

  When one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle (that is, S502 = YES), the CPU executes the process of S505. In S505, the CPU determines whether or not the parked vehicle PV adjacent to the current parking space PS is only a light vehicle. That is, the processing content of S505 is the same as the processing content of S405.

  When the parked vehicle PV adjacent to the parking space PS is only a light vehicle (that is, S505 = YES), if the near side position of the parked vehicle PV and the near end position of the target parking position TP are matched, There is a possibility that the rear end portion of the parking position TP protrudes from the parking space PS to the rear side and interferes with an obstacle B (for example, a side groove) on the rear side of the parking zone PZ. Therefore, in this case, the CPU executes the processes of S506 to S508, sets a target parking position TP different from that according to S503 and S504, and then ends the target parking position setting process.

  Specifically, in S506, the CPU acquires the front side surface position of the parked vehicle PV that is a light vehicle. Next, in S507, the CPU determines the rear side surface position of the parked vehicle PV, which is a light vehicle, the near side surface position acquired in S506, and the standard information of the light vehicle stored in the ROM or nonvolatile RAM. Estimate based on Subsequently, in S508, the CPU sets the target parking position TP so that the back side surface position estimated in S507 matches the position of the back end of the target parking position TP. In S508, the CPU stores the set target parking position TP in the RAM or the nonvolatile RAM.

  When one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle and the other is a regular vehicle (that is, S505 = NO), a parked vehicle that is a regular vehicle (for example, the second in the example of FIG. 2B). It is appropriate to set the target parking position TP based on the front side surface position of the parked vehicle PV2). Therefore, in this case, the CPU ends the target parking position setting process after executing the processes of S503 and S504.

  As described above, in this specific example, the target position setting unit 162 is configured such that the vehicle type of the parked vehicle PV adjacent to the parking space PS is the short type, and in the case of parallel parking, the target position setting unit 162 The target parking position TP is set based on the position in the vehicle width direction of the end portion on the side close to the vehicle VM and the vehicle width standard value in the short type. Thereby, generation | occurrence | production of malfunctions, such as the back side edge part of the target parking position TP protrudes from the parking space PS, can be suppressed favorably. That is, according to this specific example, the setting accuracy of the target parking position TP is improved as compared with the conventional case.

  Moreover, as FIG. 2B shows, parking space PS is the 2nd parking vehicle PV2 which is a normal vehicle, and the 1st parking vehicle PV1 which is a light vehicle which becomes a standard whose vehicle total length is shorter than a normal vehicle. May be located between. In this case, when the target parking position TP is set based on the end of the first parked vehicle PV1 that is a light vehicle that is close to the host vehicle VM, the rear end of the target parking position TP is separated from the parking space PS. Problems such as protrusion may occur. In this regard, in this specific example, the target position setting unit 162 is not at the first parking vehicle PV1 that is a light vehicle, but at the end of the second parking vehicle PV2 that is a normal vehicle on the side close to the host vehicle VM. Based on this, the target parking position TP is set. Therefore, the occurrence of the above problems can be suppressed satisfactorily. That is, according to this specific example, the setting accuracy of the target parking position TP is improved as compared with the conventional case.

  The flowchart shown in FIG. 6 shows an example of guidance processing corresponding to S307 in the flowchart of FIG. In this guidance process, first, in S601, the CPU acquires the current target parking position TP set in S304 or S305 and the guidance route calculated in S306 by reading them from the RAM or nonvolatile RAM. .

  Next, in S602, the CPU determines whether or not the backward movement of the host vehicle VM has started, based on the output of the shift position sensor 133. Until the reverse starts (that is, S602 = NO), the CPU waits for the process to proceed to S603. When the reverse starts (that is, S602 = YES), the CPU advances the process to S603. In S603, the CPU determines whether or not the current target parking position TP is set based on the end face position of the parked vehicle PV, which is a light vehicle (that is, whether or not it is according to S408 or S508). Determine.

  When the current target parking position TP is based on a light vehicle (that is, S603 = YES), the CPU advances the process to S604. In S604, the CPU determines whether or not the host vehicle VM has reached the target parking position TP, that is, whether or not the host vehicle VM is completely within the target parking position TP. Until the host vehicle VM reaches the target parking position TP (that is, S604 = NO), the CPU waits for the process to proceed to S605, and therefore the host vehicle VM continues to move backward. When the host vehicle VM reaches the target parking position TP (that is, S604 = YES), the CPU advances the process to S605 and executes a process of stopping the host vehicle VM. Thereby, a parking assistance process is complete | finished.

  When the current target parking position TP is based on a normal automobile (that is, S603 = NO), the CPU advances the process to S606. In this case, the CPU uses a distance measuring sensor such as the RL distance measuring sensor 113 or an imaging unit such as the rear camera 122 to park the vehicle that has become a reference for setting the target parking position TP while the host vehicle VM is moving backward. A tire of PV (hereinafter referred to as “reference vehicle”) is detected.

  In S606, the CPU determines whether the rear wheel of the reference vehicle has been detected. When the reference vehicle is in the opposite direction (ie, forward parking in the case of parallel parking shown in FIG. 2A), the tire detected in S606 is actually the “front wheel”. However, in the current guidance process of the host vehicle VM, since the tire detected in S606 is a tire on the backward direction side of the host vehicle VM, it may be handled as a “rear wheel” in the present process.

  Until the rear wheel of the reference vehicle is detected (that is, S606 = NO), the CPU waits for the processing to proceed to S607, so that the host vehicle VM continues to move backward. When the rear wheel of the reference vehicle is detected (that is, S606 = YES), the CPU advances the process to S607.

  Even if it is determined in the vehicle type determination (ie, S402) that the reference vehicle is a normal vehicle, as described above, the actual reference vehicle body size is the same as that of a light vehicle, or the vehicle type determination is performed due to foreign matter adhesion or the like. It may not be performed normally. In such cases, if the host vehicle VM is guided to the current target parking position TP as it is, there is a possibility that problems such as the host vehicle VM sticking out of the parking space PS may occur.

  Therefore, in S607, the CPU determines whether or not the target parking position TP needs to be corrected based on the tire recognition result in the reference vehicle. Specifically, for example, the CPU determines that the target parking position TP needs to be corrected when the detected front-rear wheel interval is less than a predetermined value.

  When it is necessary to correct the target parking position TP (that is, S607 = YES), the CPU advances the process to S609 after correcting the target parking position TP in S608. The correction of the target parking position TP can be performed, for example, by moving the target parking position TP to the vehicle passage VP side by a predetermined amount. Alternatively, the correction of the target parking position TP can be performed, for example, by changing the target parking position TP to that of the light vehicle standard. When it is not necessary to correct the target parking position TP (that is, S607 = NO), the CPU skips the processing of S608 and advances the processing to S609.

  In S609, the CPU determines whether or not the host vehicle VM has reached the target parking position TP. That is, the process of S609 is the same as the process of S604. Until the host vehicle VM reaches the target parking position TP (that is, S609 = NO), the CPU waits for the process to proceed to S605, and therefore the host vehicle VM continues to move backward. When the host vehicle VM reaches the target parking position TP (that is, S609 = YES), the CPU proceeds the process to S605 and executes a process of stopping the host vehicle VM. Thereby, a parking assistance process is complete | finished.

  The flowchart of FIG. 6, in particular, the processing of S <b> 603 and S <b> 606 to S <b> 608 corresponds to the operation of the target position correction unit 163. As described above, in the present specific example, the target position correction unit 163 determines the parking space of the host vehicle VM based on the recognition result regarding the outer shape or appearance of the parked vehicle PV while the host vehicle VM enters the parking space PS. The target parking position TP is corrected while entering the PS. Thereby, generation | occurrence | production of malfunctions, such as the own vehicle VM protruding from the parking space PS, can be suppressed favorably. That is, according to this specific example, the setting accuracy of the target parking position TP is improved as compared with the conventional case.

(Modification)
The present invention is not limited to the above embodiment. Therefore, it can change suitably with respect to the said embodiment. Hereinafter, typical modifications will be described. In the following description of the modified example, only the parts different from the above embodiment will be described. Moreover, in the said embodiment and modification, the same code | symbol is attached | subjected to the part which is mutually the same or equivalent. Therefore, in the following description of the modified example, regarding the components having the same reference numerals as those in the above embodiment, the description in the above embodiment can be appropriately incorporated unless there is a technical contradiction or special additional explanation.

  The present invention is not limited to the specific apparatus configuration shown in the above embodiment. That is, for example, the host vehicle VM and the parked vehicle PV are not limited to four-wheeled vehicles. Specifically, the host vehicle VM may be a three-wheeled vehicle or a six-wheeled or eight-wheeled vehicle such as a cargo truck. Further, the type of the host vehicle VM may be an automobile having only an internal combustion engine, an electric vehicle or a fuel cell vehicle not having an internal combustion engine, or a hybrid automobile.

  In the case where the distance measuring sensor is an ultrasonic sensor, the arrangement and the number of distance measuring sensors are not limited to the above specific example. That is, for example, the FL distance measuring sensor 111 and the FR distance measuring sensor 112 can be omitted. Alternatively, the RL ranging sensor 113 and the RR ranging sensor 114 can be omitted. Alternatively, a so-called corner sensor may be provided instead of or together with all or part of the FL distance sensor 111, the FR distance sensor 112, the RL distance sensor 113, and the RR distance sensor 114.

  The distance measuring sensor is not limited to an ultrasonic sensor. That is, for example, the distance measuring sensor may be a laser radar sensor or a millimeter wave radar sensor.

  The arrangement, mounting position, and number of cameras as the imaging unit are not limited to the above specific examples. That is, the left camera 123 and the right camera 124 can be mounted at a place other than the door mirror. Further, a part of the front camera 121, the rear camera 122, the left camera 123, and the right camera 124 may be omitted or replaced with another camera.

  The image sensor constituting the imaging unit is not limited to a CCD sensor. That is, for example, a CMOS sensor can be used instead of the CCD sensor. CMOS is an abbreviation for Complementary MOS.

  In the above embodiment, the parking assist ECU 160 is configured such that the CPU reads the program from the ROM or the like and starts up. However, the present invention is not limited to such a configuration. That is, for example, the parking assist ECU 160 may be a digital circuit configured to be able to perform the above operation, for example, an ASIC such as a gate array. ASIC is an abbreviation for APPLICATION SPECIFIC INTEGRATED CIRCUIT.

  The present invention is not limited to the specific operation examples and processing modes shown in the above embodiment. For example, when the host vehicle VM is a large vehicle such as a bus, the determination as to whether or not the vehicle type of the parked vehicle is a shorter type whose overall vehicle length is shorter than the host vehicle VM (for example, S402). It can be determined whether or not one of the first parking vehicle PV1 and the second parking vehicle PV2 is a normal vehicle or a light vehicle.

  In S404, the CPU may set the target parking position TP so that the front end position of the target parking position TP matches the position offset by a predetermined amount in the vehicle full length direction from the front end position acquired in S403. Similarly, in S408, the CPU sets the target parking position TP so that the rear end position of the target parking position TP matches the position offset by a predetermined amount in the vehicle total length direction from the estimated rear end position acquired in S407. It may be set.

  In S504, the CPU sets the target parking position TP so that the position of the front end of the target parking position TP matches the position offset by a predetermined amount in the vehicle width direction from the front side surface position acquired in S503. It may be set. Similarly, in S508, the CPU sets the target parking position so that the position of the back side end of the target parking position TP matches the position offset by a predetermined amount in the vehicle width direction from the back side surface position acquired in S507. The position TP may be set.

  The target parking position TP may be set based on a selection operation by the user. 7 and 8 are obtained by partially modifying the operation examples of FIGS. 4 and 5 so as to correspond to the selection operation by the user.

  In the flowchart of FIG. 7, the processing in S401 and S402 is the same as in FIG. 4, and the subsequent processing when the determination in S402 is NO is the same as in FIG. Further, when the determination in S402 is YES and the determination in S405 is YES, the subsequent processing is the same as in FIG. In this modification, when the determination of S402 is YES and the determination of S405 is NO, that is, one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle and the other is normal. The process in the case of an automobile is different from that in FIG.

  In this modified example, the target parking position TP is a first target parking position candidate (that is, a candidate after correction) based on a normal car and a second target parking position candidate (that is, a candidate before correction) that is based on a light car. The selection is made based on the operation by the user. Specifically, when one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle and the other is a normal vehicle (that is, S405 = NO), the CPU proceeds the process to S711 to S716. Then, the target parking position setting process is terminated.

  In S711, the CPU acquires the front end position of the parked vehicle PV, which is a normal automobile, as in S403. In S712, the CPU sets a first target parking position candidate based on a normal vehicle by the same process as in S404, and stores the set first target parking position candidate in the RAM or the nonvolatile RAM.

  In S713, the CPU acquires the front end position of the parked vehicle PV that is a light vehicle, as in S406. In S714, the CPU estimates the rear end position of the parked vehicle PV, which is a light vehicle, by the same processing as in S407. In S715, the CPU sets a second target parking position candidate based on the light vehicle by the same processing as S408, and stores the set second target parking position candidate in the RAM or the nonvolatile RAM.

  In S716, the CPU reads out the first target parking position candidate and the second target parking position candidate from the RAM or the nonvolatile RAM, displays them on the image display device 141, and accepts a user input via the input device 143. In addition, the CPU selects one of the first target parking position candidate and the second target parking position candidate as the target parking position TP based on the received user input, and the selected target parking position TP is stored in the RAM or the nonvolatile memory. Store in RAM.

  In the flowchart of FIG. 8, the processing of S501 and S502 is the same as that of FIG. 5, and the subsequent processing when the determination of S502 is NO is the same as that of FIG. Also, the subsequent processing when the determination in S502 is YES and the determination in S505 is YES is the same as in FIG. In this modification, when the determination of S502 is YES and the determination of S505 is NO, that is, one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle and the other is normal. Processing in the case of an automobile is different from that in FIG.

  In this modification, the target parking position TP is selected based on the operation by the user from the first target parking position candidate based on the ordinary car and the second target parking position candidate based on the light car. Is done. Specifically, when one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle and the other is a normal vehicle (that is, S505 = NO), the CPU proceeds with the process to S811 to S816. Then, the target parking position setting process is terminated.

  In S811, the CPU acquires the front side surface position of the parked vehicle PV, which is a normal automobile, as in S503. In S812, the CPU sets a first target parking position candidate based on a normal vehicle by the same processing as in S504, and stores the set first target parking position candidate in the RAM or nonvolatile RAM.

  In S813, the CPU acquires the near-side side surface position of the parked vehicle PV that is a light vehicle, similarly to S506. In S814, the CPU estimates the rear side surface position of the parked vehicle PV, which is a light vehicle, by the same processing as in S507. In S815, the CPU sets a second target parking position candidate based on the light vehicle, and stores the set second target parking position candidate in the RAM or the nonvolatile RAM by the same process as in S508.

  In S816, the CPU reads out the first target parking position candidate and the second target parking position candidate from the RAM or the nonvolatile RAM, displays them on the image display device 141, and accepts user input via the input device 143. That is, the process of S816 is the same as the process of S716. In addition, the CPU selects one of the first target parking position candidate and the second target parking position candidate as the target parking position TP based on the received user input, and the selected target parking position TP is stored in the RAM or the nonvolatile memory. Store in RAM.

  According to this modification, one of the first target parking position candidate based on the ordinary car and the second target parking position candidate based on the light car is confirmed on the image display device 141 by the user. And the target parking position TP is set by selecting through input operation with the input device 143. Thereby, generation | occurrence | production of malfunctions, such as the target parking position TP protruding from parking space PS resulting from the malfunction of vehicle classification determination, etc. can be suppressed favorably. That is, according to this modification, the setting accuracy of the target parking position TP is improved as compared with the conventional case.

  FIG. 9 shows a modification in which the flowchart of FIG. 4 is partially changed. That is, the flowchart of FIG. 9 is the same as the flowchart of FIG. 4 except that S407 and S408 in FIG. 4 are changed to S907 and S908.

  In S907, the CPU is based on the front end position acquired in S406 of the center position of the parked vehicle PV, which is a light vehicle, in the vehicle full length direction and the standard information of the light vehicle stored in the ROM or nonvolatile RAM. presume. The rear end position estimated in S907 is hereinafter referred to as “estimated center position”. Subsequently, in S908, the CPU sets the target parking position TP so that the estimated center position matches the center position of the target parking position TP, and stores the set target parking position TP in the RAM or the nonvolatile RAM. .

  As described above, the present modification shown in FIG. 9 uses the estimated rear end position of the parked vehicle PV in that the estimated center position of the parked vehicle PV is used for setting the target parking position TP. That is, it is different from the example of FIG. Also by this modification, the same effect as the said specific example is show | played. Note that this modification can also be applied to a modification corresponding to the user selection described above. That is, S907 and S908 in FIG. 9 are applied instead of S407 and S408 in FIG. 7, and S713, S714, and S715 in FIG. obtain.

  FIG. 10 shows another modification in which the flowchart of FIG. 4 is partially changed. In the flowchart of FIG. 10, the processing of S401 and S402 is the same as that of FIG. 4, and the subsequent processing when the determination of S402 is NO is the same as that of FIG. Further, when the determination in S402 is YES and the determination in S405 is NO, the subsequent processing is the same as in FIG. In this modification, when the determination in S402 is YES and the determination in S405 is YES, that is, the process when the parked vehicle PV adjacent to the current parking space PS is only a light vehicle is shown in FIG. It is different from the case of.

  Referring to FIGS. 1 and 2A, in this modification, the target position setting unit 162 is a case where the vehicle type of the parked vehicle PV adjacent to the parking space PS is a short type (that is, a light vehicle) and parallel parking is performed. A position offset by a predetermined vertical offset amount Vo from the front end of the parked vehicle PV toward the host vehicle VM along the entire vehicle length direction is set as the front end position of the target parking position TP.

  Specifically, referring to FIG. 10, when the parked vehicle PV adjacent to the parking space PS is only a light vehicle (that is, S405 = YES), the CPU advances the process to S406. In S406, the CPU acquires the front end position of the parked vehicle PV, which is a light vehicle, as in the case of FIG. Next, the CPU advances the process to step S1007.

  In S1007, the CPU acquires the vertical offset amount Vo. Specifically, the vertical offset amount Vo is a value set in advance based on, for example, standard information on the total vehicle length of ordinary cars and light cars, and can be stored in advance in a ROM or a nonvolatile RAM. That is, the CPU can acquire the vertical offset amount Vo by reading it from the ROM or the nonvolatile RAM in S1007. Alternatively, for example, in S1007, the CPU can calculate the vertical offset amount Vo using the standard information of the total length of the vehicle in the light vehicle and the total length information of the host vehicle VM stored in the ROM or nonvolatile RAM. .

  After the process of S1007, the CPU advances the process to S1009. In S1009, the CPU corrects the front end position acquired in S406 with the vertical offset amount Vo acquired in S1007. Thereafter, the CPU proceeds with the process to S404. In this case, in S404, the target parking position TP is set based on the front end position corrected with the vertical offset amount Vo. The set target parking position TP is stored in the RAM or nonvolatile RAM.

  FIG. 11 shows a modification in which the flowchart of FIG. 10 is partially changed. In the flowchart of FIG. 11, when the determination of S402 is YES and the determination of S405 is NO, that is, one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle and the other is The processing for an ordinary car is different from that in FIG.

  In this modification, as shown in FIG. 2A, it is assumed that the first parked vehicle PV1 and the second parked vehicle PV2 are arranged across the current parking space PS. At this time, the interval between the first parking vehicle PV1 that is a light vehicle and the target parking position TP is G1, and the interval between the second parking vehicle PV2 that is a normal vehicle and the target parking position TP is G2. G1 is the distance between the side surface on the target parking position TP side in the first parking vehicle PV1 and the side on the first parking vehicle PV1 side in the target parking position TP. G2 is the distance between the side surface on the target parking position TP side in the second parking vehicle PV2 and the side on the second parking vehicle PV2 side in the target parking position TP.

  As shown in FIG. 2A, of the first parking vehicle PV1 and the second parking vehicle PV2 adjacent to the current parking space PS, the first parking vehicle PV1 is a light vehicle and the second parking vehicle PV2 is normal. It can be a car. In this case, if the interval G1 between the first parking vehicle PV1 that is a light vehicle and the target parking position TP and the interval G2 between the second parking vehicle PV2 that is a normal vehicle and the target parking position TP are the same, In addition, inconvenience may occur when the first parked vehicle PV1 is switched from a light vehicle to a normal vehicle. Specifically, when the first parked vehicle PV1 is switched from a light vehicle to a normal vehicle, the interval G1 becomes narrower than the interval G2. In this case, the gap G1 may be too narrow when the passenger gets on and off, while the gap G2 may be too wide when the passenger gets on and off.

  Therefore, referring to FIG. 1 and FIG. 2A, in this modification, the target position setting unit 162 is a parking vehicle PV that is not a short type in the case of parallel parking (that is, the second parking vehicle PV2 in the example of FIG. 2A). The distance G2 between the target parking position TP and the target parking position TP is set narrower than the distance G1 between the short type parked vehicle PV (that is, the first parking vehicle PV1 in the example of FIG. 2A) and the target parking position TP. In the following, the processing contents according to the flowchart of FIG. 11 will be described only for parts different from FIG.

  When one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle and the other is a normal vehicle (ie, S405 = NO), the CPU advances the process to S1111. In S1111, the CPU detects the width of the current parking space PS (that is, the dimension in the vehicle width direction). The detection of the width of the parking space PS in S1111 can be performed based on the image recognition result by the rear camera 122, for example.

  After the process of S1111, the CPU advances the process to S1112. In S1112, the CPU acquires a lateral offset amount Ho. The lateral offset amount Ho can be calculated using, for example, the width of the parking space PS detected in S1111 and the vehicle width standard information stored in the ROM or nonvolatile RAM. Thereafter, the CPU proceeds with the process to S403.

  After the process of S404, the CPU executes the process of S1113. In S1113, the CPU determines whether or not the lateral offset amount Ho has been acquired.

  If the determination in S405 is NO, the lateral offset amount Ho is acquired in S1112. Therefore, in this case (that is, S1113 = YES), the CPU ends the target parking position setting process after executing the process of S1114. In S1114, the CPU corrects the position in the vehicle width direction of the target parking position TP using the lateral offset amount Ho, and stores the corrected target parking position TP in the RAM or nonvolatile RAM.

  When the determination in S402 is NO and when the determination in S405 is YES, the vehicle width direction position correction of the target parking position TP is not necessary. Therefore, in this case, the lateral offset amount Ho is not acquired in S1112. Therefore, in this case (that is, S1113 = NO), the CPU skips the process of S1114 and ends the target parking position setting process.

  As described above, in this modification, the target parking is performed when one of the first parking vehicle PV1 and the second parking vehicle PV2 adjacent to the current parking space PS is a light vehicle and the other is a normal vehicle. The vehicle width direction position of the position TP is appropriately set. Therefore, according to the present modified example, the target parking position TP is set so as not to hinder passengers getting on and off the own vehicle even when an adjacent light vehicle is replaced with a normal vehicle after the parking of the own vehicle VM is completed. Can be set well.

  The flowcharts of FIGS. 10 and 11 can also be changed as appropriate. That is, for example, the flowcharts of FIGS. 10 and 11 can be modified for parallel parking.

  In the flowcharts of FIGS. 10 and 11, the CPU sets the first target parking position candidate after correction with the vertical offset amount Vo and / or the horizontal offset amount Ho and the first pre-correction before setting the target parking position TP. The two target parking position candidates can be displayed on the image display device 141 as RAM, and user input can be received via the input device 143. In this case, the CPU selects one of the first target parking position candidate and the second target parking position candidate as the target parking position TP based on the received user input. According to such a modification, the same effects as those of the modification of FIGS. 7 and 8 can be obtained.

  FIG. 12A and FIG. 12B each show an example of a screen display for selecting a target parking position candidate at the time of parallel parking and parallel parking, corresponding to the modified examples of FIGS. In the figure, TP1 indicates a first target parking position candidate, and TP2 indicates a second target parking position candidate. 12A and 12B display the target parking position candidates and their surroundings in a so-called around view monitor format. However, the present invention is not limited to such a display mode. That is, the screen display of the around view monitor format in FIGS. 12A and 12B can be changed to the screen display of the back monitor format.

  FIG. 13 shows a modification of the vehicle type determination. This modification is an example in which the detection result of the distance between the front and rear wheels by the distance measuring sensor or the like is supplementarily used for vehicle type determination when there is a problem in the extraction of the license plate image in S401.

  Specifically, referring to the flowchart of FIG. 13, based on the license plate image extracted in S401, it is determined in S402 that neither the first parked vehicle PV1 nor the second parked vehicle PV2 is a light vehicle. In the case where it is detected (that is, S402 = NO), the CPU advances the process to S1321.

  In S1321, the CPU extracts front and rear wheel positions in the first parked vehicle PV1 and the second parked vehicle PV2. Next, in S1322, the CPU determines whether one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle based on the extracted front and rear wheel positions. That is, the processing content of S1322 is the same as the processing content of S502.

  If the determination in S1322 is YES, the CPU advances the process to S405. On the other hand, when the determination in S1322 is NO, the CPU proceeds with the process in the same manner as when the determination in S405 is NO. According to this modification, the robustness of the vehicle type determination is improved.

  The inequality sign in each determination process may be with or without an equal sign. That is, for example, “less than a predetermined value” can be changed to “below a predetermined value”.

  The modification is not limited to the above example. A plurality of modifications may be combined with each other. Furthermore, all or a part of the above-described embodiment and all or a part of the modified examples can be combined with each other.

DESCRIPTION OF SYMBOLS 100 Parking assistance apparatus 111 FL ranging sensor 112 FR ranging sensor 113 RL ranging sensor 114 RR ranging sensor 121 Front camera 122 Rear camera 123 Left camera 124 Right camera 160 Parking assistance ECU 161 Type determination part 162 Target position setting 163 Target position correction unit PS Parking space PV Parked vehicle TP Target parking position VM Own vehicle

Claims (14)

A parking support device (100) configured to support parking of the host vehicle in a parking space (PS) adjacent to the parked vehicle (PV1, PV2) by being mounted on the host vehicle (VM). There,
A type determination unit (161) for determining a vehicle type of the parked vehicle based on a recognition result relating to the outer shape or appearance of the parked vehicle;
A target position setting unit (162) for setting a target parking position (TP) of the host vehicle in the parking space based on the vehicle type determined by the type determination unit;
Parking assistance device with An image pickup unit (121 to 124) for acquiring image information corresponding to an image around the host vehicle is further provided,
The recognition result is acquired based on the image information.
The parking assistance device according to claim 1. The recognition result is an image recognition result of a license plate in the parked vehicle.
The parking assistance device according to claim 2. The recognition result is an image recognition result of a tire in the parked vehicle.
The parking assistance device according to claim 2 or 3. A received wave having an intensity corresponding to the distance between the host vehicle and the object due to reflection of the probe wave by an object existing outside the host vehicle while transmitting the probe wave toward the outside of the host vehicle A distance measuring sensor (111 to 114) for receiving
The recognition result is acquired based on the received wave.
The parking assistance device according to any one of claims 1 to 4. The recognition result is a tire recognition result in the parked vehicle acquired based on the received wave.
The parking assistance device according to claim 5. A target position correction unit (163) that corrects the target parking position based on the recognition result during the approach of the host vehicle to the parking space;
The parking assistance device according to any one of claims 1 to 6. The type determination unit determines whether or not the vehicle type of the parked vehicle is a short type in which the total vehicle length is shorter than the host vehicle.
The parking assistance device according to any one of claims 1 to 7. When the vehicle type of the parked vehicle is the short type, the target position setting unit is offset to the own vehicle side from an end of the parked vehicle that is the short type that is close to the own vehicle. Is set as the position of the end of the target parking position on the side close to the host vehicle,
The parking assistance device according to claim 8. When the vehicle type of the parked vehicle is the short type, the target position setting unit includes a position of an end portion of the parked vehicle that is close to the host vehicle that is the short type, and a vehicle in the short type. Based on the standard value, the target parking position is set.
The parking assistance device according to claim 8. The parking space between the parked vehicle belonging to the first vehicle type and the parked vehicle belonging to the second vehicle type that is a short type whose overall vehicle length is shorter than the first vehicle type. If located in
The target position setting unit sets the target parking position based on an end of the parked vehicle belonging to the first vehicle type on the side close to the host vehicle.
The parking assistance device according to any one of claims 1 to 7. The target position setting unit determines an interval between the parked vehicle belonging to the first vehicle type and the target parking position based on an interval between the parked vehicle belonging to the second vehicle type and the target parking position. Set too narrow,
The parking assistance device according to claim 11. The short type is a light vehicle,
The parking assistance device according to any one of claims 8 to 12. The target position setting unit, when the vehicle type of the parked vehicle is the short type,
A candidate before correction having an end position on the side close to the host vehicle, which corresponds to an end position on the side close to the host vehicle of the parked vehicle of the short type, and
The corrected candidate, the end position on the side close to the host vehicle is different from the pre-correction candidate,
The target parking position is set based on the user's selection operation.
The parking assistance device according to any one of claims 8 to 13.

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