JP2019167028A - Parking support device and parking support method - Google Patents

Abstract

To provide a parking support device which enables automatic adjustment of a parking position.SOLUTION: A parking assist device 10 includes: a parking space detection part 11 which detects a parking space of own vehicle; an occupant position detection part 12 which detects a seating position of an occupant of the own vehicle; and an automatic parking control part 15 which causes the own vehicle to be parked in a target parking position in the parking space detected by the parking space detection part 11; and a target parking position adjustment part which adjusts the target parking position based on the seating position of the occupant detected by the occupant position detection part 12.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a parking assistance device and a parking assistance method for assisting parking of a vehicle.

  In recent years, development of a vehicle equipped with a parking assistance device that assists driving at the time of parking has progressed. For example, Patent Literature 1 below discloses a parking assistance device that can adjust the parking position of a vehicle based on an operation instruction from a passenger. According to this technology, the parking position of the vehicle is adjusted according to the passenger's request, for example, to widen the driver's or passenger's side of the vehicle, or to widen the rear part for loading and unloading luggage. be able to.

JP 2008-284969 A

  The adjustment of the parking position in the parking assistance device of Patent Document 1 is determined regardless of the seating position of the passenger. Therefore, for example, even when only the driver's seat door is opened and closed, the driver side and the passenger side are parked with the same clearance, and it is difficult to open and close the door when attempting to park in a relatively small parking space. become.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a parking assistance device capable of automatically adjusting a parking position.

  The parking assist device according to the present invention includes a parking space detection unit that detects a parking space, a passenger position detection unit that detects a seating position of a passenger of the host vehicle, and the parking space detection unit that detects the parking space. An automatic parking control unit that parks the host vehicle at the target parking position, a target parking position adjustment unit that adjusts the target parking position based on the seating position of the passenger detected by the passenger position detection unit, Is provided.

  According to the present invention, the parking position of the vehicle is automatically adjusted based on the seating position of the occupant in consideration of opening and closing of the door after parking, which can contribute to improving the convenience of the parking assistance device.

It is a block diagram which shows the structure of the parking assistance apparatus which concerns on Embodiment 1. FIG. It is a figure which shows the relationship between a passenger's seating position and a target parking position. It is a figure which shows the relationship between a passenger's seating position and a target parking position. It is a figure which shows the relationship between a passenger's seating position and a target parking position. It is a figure which shows the relationship between a passenger's seating position and a target parking position. It is a figure which shows the relationship between a passenger's seating position and a target parking position. It is a figure which shows the relationship between a passenger's seating position and a target parking position. It is a figure which shows the relationship between a passenger's seating position and a target parking position. 3 is a flowchart showing an operation of the parking assistance device according to the first embodiment. FIG. 10 is a diagram for illustrating a modification of the first embodiment. It is a figure which shows the example of the hardware constitutions of a parking assistance apparatus. It is a figure which shows the example of the hardware constitutions of a parking assistance apparatus. It is a block diagram which shows the structure of the parking assistance apparatus which concerns on Embodiment 2. FIG. It is a block diagram which shows the structure of the parking assistance apparatus which concerns on Embodiment 3.

  Hereinafter, a parking assistance device according to an embodiment of the present invention will be described with reference to the drawings. In the description of the drawings, elements having similar functions are denoted by the same reference numerals, and redundant description is omitted.

<Embodiment 1>
FIG. 1 is a block diagram showing a configuration of a parking assistance apparatus 10 according to Embodiment 1 of the present invention. The parking assistance device 10 is mounted on a vehicle, and the parking assistance device 10 is connected to an outside sensor 1, an inside sensor 2, an HMI (Human Machine Interface) device 3, and a travel control device 4 of the vehicle.

  The outside sensor 1 is a sensor that collects information necessary for searching for a parking space, such as obstacles around the host vehicle (buildings, walls, other vehicles, etc.) and a parking space marking line drawn on the road surface of the parking lot. For example, it is constituted by a sonar or a camera installed outside the passenger compartment.

  The in-vehicle sensor 2 is a sensor that detects passengers (drivers and passengers), and includes, for example, a camera installed in the room of the host vehicle.

  The HMI device 3 is an interface device that allows the parking assistance device 10 to present information to the user (the driver of the host vehicle) and allows the user to input an instruction to the parking assistance device 10. For example, when the driver wants to perform automatic parking of the host vehicle, the HMI device 3 is used to instruct the parking support device 10 to start automatic parking, or a parking method (parallel parking / parallel parking, forward / backward, etc.) ). Moreover, the parking assistance apparatus 10 makes a user select the parking space which parks a own vehicle using the HMI apparatus 3, for example, when a some parking space is detected.

  The travel control device 4 is an ECU (Electronic Control Unit) that controls the travel of the host vehicle. The parking assistance device 10 performs automatic parking of the host vehicle by controlling the traveling control device 4.

  As shown in FIG. 1, the parking assistance device 10 includes a parking space detection unit 11, a passenger position detection unit 12, an offset counter 13, a target parking position adjustment unit 14, and an automatic parking control unit 15.

  The parking space detection unit 11 detects a parking space in which the host vehicle can be parked based on obstacles around the host vehicle detected by the sensor 1 outside the vehicle or a lane marking of the parking space.

  The passenger position detection unit 12 detects the seating position of the passenger based on the position information of the passenger of the host vehicle detected by the in-vehicle sensor 2.

  The offset counter 13 determines the number of passengers whose seating position is on the right side of the host vehicle and the number of passengers whose seating position is on the left side of the host vehicle from the information on the seating position of the passenger detected by the passenger position detection unit 12. Count. In the present embodiment, the offset counter 13 increments the count value by the number of passengers whose seating positions are on the right side of the host vehicle, and decrements the count value by the number of passengers whose seating positions are on the left side of the host vehicle. Therefore, the final count value of the offset counter 13 represents the difference between the number of passengers whose seating positions are on the right side of the host vehicle and the number of passengers whose seating positions are on the left side of the host vehicle.

  The target parking position adjustment unit 14 adjusts a target parking position (hereinafter referred to as “target parking position”) when the host vehicle is parked in the parking space based on the seating position of the passenger of the host vehicle. In the present embodiment, the target parking position adjustment unit 14 determines the difference between the number of passengers whose seating positions are on the right side of the host vehicle and the number of passengers whose seating positions are on the left side of the host vehicle (that is, the offset counter 13 The target parking position is adjusted based on the count value.

  In general, the target parking position is set at the center of the parking space. On the other hand, the target parking position adjustment unit 14 moves the target parking position from the center to the left when the seating position is more on the right side of the own vehicle than the passenger on the left side of the own vehicle, On the other hand, when the number of passengers whose seating position is on the left side of the host vehicle is greater than the number of passengers on the right side of the host vehicle, the target parking position is moved from the center to the right. Further, the offset amount, which is the movement amount, is set to a larger value as the difference between the number of passengers whose seating positions are on the right side of the own vehicle and the number of passengers whose seating positions are on the left side of the own vehicle is larger. .

  For example, as shown in FIG. 2, when the passenger 20 is seated in the driver's seat and the passenger seat of the host vehicle 100 (assumed to be a right-hand drive vehicle), or as shown in FIG. When seated in the driver's seat, passenger seat, right rear seat, and left rear seat, the count value D of the offset counter 13 is zero. In this case, the target parking position adjustment unit 14 sets the target parking position P1 at the center of the parking space P0. In other words, the target parking position adjusting unit 14 stops the own vehicle 100 at the target parking position P1, and the distance WL from the center of the own vehicle 100 to the left end of the parking space and the right end of the parking space from the center of the own vehicle 100. The target parking position P1 is adjusted so that the relationship with the distance WR becomes WL = WR.

  In addition, as shown in FIG. 4, when the passenger 20 is only in the driver's seat of the own vehicle 100, or as shown in FIG. 5, the passenger 20 is seated in the driver's seat, the passenger seat, and the right rear seat of the own vehicle 100. If the passenger 20 is seated on the driver's seat, the right rear seat, and the left rear seat of the host vehicle 100 as shown in FIG. 6, the count value D of the offset counter 13 becomes +1. In this case, the target parking position adjustment unit 14 moves the target parking position P1 from the center of the parking space P0 to the left. That is, the target parking position adjustment unit 14 adjusts the target parking position P1 so that WL <WR when the host vehicle 100 is stopped at the target parking position P1.

  As shown in FIG. 7, when the passenger 20 is seated in the driver's seat, the passenger seat, and the left rear seat of the host vehicle 100, the count value D of the offset counter 13 is −1. In this case, the target parking position adjustment unit 14 moves the target parking position P1 from the center of the parking space P0 to the right. That is, the target parking position adjustment unit 14 adjusts the target parking position P1 so that WL> WR when the host vehicle 100 is stopped at the target parking position P1.

  Further, as shown in FIG. 8, when the passenger 20 is seated in the driver's seat and the right rear seat of the host vehicle 100, the count value D of the offset counter 13 is +2. In this case, the target parking position adjustment unit 14 moves the target parking position P1 from the center of the parking space P0 to the left. That is, the target parking position adjustment unit 14 adjusts the target parking position P1 so that WL <WR when the host vehicle 100 is stopped at the target parking position P1. Further, the offset amount at that time is made larger than when the count value D is +1, and the right boarding space (door opening / closing space) of the host vehicle 100 is made wider.

  Thus, when there are many passengers whose seating positions are on the right side of the host vehicle, the target parking position is moved to the left, and a wide boarding space on the right side of the host vehicle 100 is secured. Conversely, when there are many passengers whose seating positions are on the left side of the host vehicle, the target parking position is moved to the right, and a large boarding / alighting space on the left side of the host vehicle 100 is secured. That is, since a boarding space on the side where the door of the host vehicle 100 is frequently opened and closed is secured, it is possible to reduce the possibility that the door contacts an obstacle.

  Returning to FIG. 1, the automatic parking control unit 15 automatically parks the host vehicle at the target parking position adjusted by the target parking position adjustment unit 14. Specifically, the automatic parking control unit 15 calculates a route from the current position of the host vehicle to the target parking position, and controls the travel control device 4 so that the host vehicle travels along the route. Guide your vehicle to the target parking position.

  FIG. 9 is a flowchart showing the operation of the parking assistance device 10. Hereinafter, based on FIG. 9, operation | movement of the parking assistance apparatus 10 is demonstrated.

  When the parking assist device 10 is activated, the passenger position detection unit 12 detects the seating position of the passenger based on the information on the position of the passenger detected by the in-vehicle sensor 2 (step S1). Next, the automatic parking control unit 15 checks whether or not the user (driver) has input an automatic parking start instruction to the HMI device 3 (step S2). If there is no automatic parking start instruction (NO in step S2), step S1 is repeatedly executed.

  When an instruction to start automatic parking is input by the user (YES in step S2), the parking space detection unit 11 is based on information such as an obstacle around the host vehicle detected by the vehicle outside sensor 1 and a partition line of the parking space. A parking space where the host vehicle can be parked is detected (step S3). When a plurality of parking spaces are detected, the automatic parking control unit 15 uses the HMI device 3 to cause the driver to select a parking space for parking the host vehicle.

  Subsequently, the offset counter 13 resets the count value (sets D = 0) (step S4). Then, the offset counter 13 calculates the number of passengers whose seating positions are on the right side of the host vehicle and the number of passengers whose seating positions are on the left side of the host vehicle based on the seating positions of the passengers detected in step S1. Count. In the present embodiment, as described below, the offset counter 13 increments the count value by the number of passengers whose seating positions are on the right side of the own vehicle, and the count value is the same as the number of passengers whose seating positions are on the left side of the own vehicle. Is decremented.

  First, the offset counter 13 checks whether or not the passenger is in the passenger seat (step S5). When the passenger is not in the passenger seat (NO in step S5), the offset counter 13 increments the count value to count the driver (step S6). When the passenger is in the passenger seat (YES in step S5), the count value is canceled out by the driver and the passenger in the passenger seat, so the offset counter 13 does not increase or decrease the count value.

  Next, the offset counter 13 confirms whether or not the passenger is in the right rear seat (step S7). If the passenger is in the right rear seat (YES in step S7), the offset counter 13 increments the count value to count the passenger (step S8). When the passenger is not in the right rear seat (NO in step S7), the offset counter 13 does not increase or decrease the count value.

  Next, the offset counter 13 confirms whether or not the passenger is in the left rear seat (step S9). When the passenger is in the left rear seat (YES in step S9), the offset counter 13 decrements the count value in order to count the passenger (step S10). When the passenger is not in the left rear seat (NO in step S9), the offset counter 13 does not increase or decrease the count value.

  As a result of the processes in steps S4 to S10, the final count value of the offset counter 13 is the difference between the number of passengers whose seating position is on the right side of the host vehicle and the number of passengers whose seating position is on the left side of the host vehicle. Is the same value as

  Subsequently, the target parking position adjustment unit 14 adjusts the target parking position based on the count value of the offset counter 13 (step S11). The target parking position adjustment unit 14 moves the target parking position to the left if the count value is positive, and moves it to the right of the target parking position if the count value is negative. Further, the target parking position adjustment unit 14 increases the offset amount as the absolute value of the count value increases.

  When the adjustment of the target parking position is completed, the automatic parking control unit 15 controls the travel control device 4 to perform automatic driving, and parks the host vehicle at the target parking position (step S12).

  As described above, according to the parking assistance device 10 according to the present embodiment, the target parking position is adjusted so as to secure a wide entry / exit space on the side where there are many doors that are opened and closed when the passenger gets out of the host vehicle. Is done. Therefore, the possibility that the door of the host vehicle contacts the obstacle can be reduced. Further, since the target parking position is automatically adjusted based on the count value of the offset counter 13, there is no need for the passenger to give an operation instruction, and high convenience is obtained.

  Note that the left and right rear seats of a typical passenger car are connected, and a passenger in the rear seat can get on and off from either the left or right door. Therefore, for example, as shown in FIG. 10, when the width of the parking space (distance between obstacles sandwiching the parking space) is smaller than a specific value and there is no passenger in the passenger seat, the target parking position adjustment unit 14 may move the target parking position to the opposite side of the driver's seat of the own vehicle 100 regardless of the count value of the offset counter 13 to ensure a large boarding / alighting space on the driver's seat side. In the example of FIG. 10, since the passenger is in the driver's seat and the left rear seat of the host vehicle 100, the count value of the offset counter 13 is 0, but the target parking position P1 is the host vehicle so that WL <WR. It is moved from the center of 100 to the right side.

  11 and 12 are diagrams illustrating examples of the hardware configuration of the parking assistance device 10. Each function of the components of the parking assistance apparatus 10 shown in FIG. 1 is realized by, for example, the processing circuit 50 shown in FIG. That is, the parking assist device 10 detects the parking space, detects the seating position of the passenger of the host vehicle, adjusts the target parking position in the parking space based on the seating position of the passenger, and sets the target parking position. A processing circuit 50 for parking the host vehicle is provided. The processing circuit 50 may be dedicated hardware, or a processor (a central processing unit (CPU), a processing device, an arithmetic device, a microprocessor, a microcomputer, or the like) that executes a program stored in a memory. It may be configured using a DSP (Digital Signal Processor).

  When the processing circuit 50 is dedicated hardware, the processing circuit 50 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable). Gate Array) or a combination of these. Each function of the components of the parking assist device 10 may be realized by an individual processing circuit, or the functions may be realized by a single processing circuit.

  FIG. 12 shows an example of a hardware configuration of the parking assistance apparatus 10 when the processing circuit 50 is configured using a processor 51 that executes a program. In this case, the functions of the constituent elements of the parking assistance device 10 are realized by software or the like (software, firmware, or a combination of software and firmware). Software or the like is described as a program and stored in the memory 52. The processor 51 reads out and executes the program stored in the memory 52, thereby realizing the function of each unit. That is, when the parking support device 10 is executed by the processor 51, the parking space is detected based on the processing for detecting the parking space, the processing for detecting the seating position of the passenger of the host vehicle, and the seating position of the passenger. And a memory 52 for storing a program that results in a process of adjusting the target parking position and a process of parking the host vehicle at the target parking position. In other words, it can be said that this program causes the computer to execute the operation procedure and method of the components of the parking assist device 10.

  Here, the memory 52 is nonvolatile or non-volatile such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), or the like. Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc) and its drive device, etc., or any storage media used in the future May be.

  The configuration in which the functions of the components of the parking assistance device 10 are realized by either hardware or software has been described above. However, the present invention is not limited to this, and a configuration in which some components of the parking assistance device 10 are realized by dedicated hardware, and other components are realized by software or the like. For example, the functions of some components are realized by the processing circuit 50 as dedicated hardware, and the programs stored in the memory 52 are stored in the memory 52 by the processing circuit 50 as the processor 51 for other components. The function can be realized by reading and executing.

  As described above, the parking assistance device 10 can realize the functions described above by hardware, software, or the like, or a combination thereof.

<Embodiment 2>
FIG. 13 is a block diagram illustrating a configuration of the parking assistance apparatus 10 according to the second embodiment. The configuration of the parking assistance device 10 in FIG. 13 is obtained by adding a passenger attribute detection unit 16 to the configuration in FIG. 1.

  The passenger attribute detection unit 16 detects the attributes of the passenger from, for example, a passenger image captured by the camera of the in-vehicle sensor 2. Here, it is assumed that the passenger attribute detection unit 16 detects whether the passenger is an elderly person or an infant.

  In the second embodiment, when the offset counter 13 counts the number of passengers, the target parking position adjustment unit 14 multiplies the number of passengers who are elderly people or infants by a weighting factor larger than one. .

  Here, consider a case where the passenger 20 is seated in the driver's seat and the passenger seat of the host vehicle 100 as shown in FIG. In this case, in the first embodiment, the count value of the offset counter 13 is zero. In the second embodiment, for example, when the passenger in the passenger seat is an elderly person or an infant, the number (1) of passengers in the passenger seat is multiplied by a weighting factor greater than one. For example, if the weight coefficient is “2”, the number of passengers in the passenger seat is counted as 2, and the count value of the offset counter 13 becomes −1. Therefore, the target parking position moves to the right side of the center of the parking space P0, and as a result, a passenger boarding space on the passenger seat side is secured to be wide, and an elderly person or an infant in the passenger seat can easily enter and exit the own vehicle 100.

  According to the parking assist device 10 according to the present embodiment, it is possible to adjust the target parking position in consideration of the elderly and infants.

<Embodiment 3>
FIG. 14 is a block diagram illustrating a configuration of the parking assist device 10 according to the third embodiment. The configuration of the parking assistance device 10 in FIG. 14 is obtained by adding a door obstacle detection unit 17 to the configuration in FIG.

  The door obstacle detection unit 17 detects an obstacle that interferes with the door of the host vehicle based on information on the position and height of the obstacle around the host vehicle detected by the outside sensor 1.

  The operation of the parking assistance apparatus 10 of the third embodiment is basically the same as that of the first embodiment. However, when the obstacle detected by the door obstacle detector 17 (obstacle that interferes with the door) exists only on one side of the parking space, the target parking position adjuster 14 is exceptionally Regardless of the seating position, the target parking position is moved to the side without an obstacle.

  According to the present embodiment, when the obstacle that interferes with the door is only on one side of the parking space, it is possible to more reliably prevent the door from coming into contact with the obstacle when the passenger gets on and off the host vehicle.

  It should be noted that the present invention can be freely combined with each other within the scope of the invention, and each embodiment can be appropriately modified or omitted.

  DESCRIPTION OF SYMBOLS 1 Out-of-vehicle sensor, 2 In-vehicle sensor, 3 HMI apparatus, 4 Travel control apparatus, 10 Parking assistance apparatus, 11 Parking space detection part, 12 Passenger position detection part, 13 Offset counter, 14 Target parking position adjustment part, 15 Automatic parking control Part, 16 passenger attribute detection part, 17 door obstacle detection part, 20 passenger, 100 own vehicle, P0 parking space, P1 target parking position.

The parking assist device according to the present invention includes a parking space detection unit that detects a parking space, a passenger position detection unit that detects a seating position of a passenger of the host vehicle, and the parking space detection unit that detects the parking space An automatic parking control unit that parks the host vehicle at the target parking position, a target parking position adjustment unit that adjusts the target parking position based on the seating position of the passenger detected by the passenger position detection unit, The target parking position adjustment unit adjusts the target parking position based on the number of passengers whose seating positions are on the right side of the host vehicle and the number of passengers whose seating positions are on the left side of the host vehicle. When the seating position of the passenger on the right side of the host vehicle is larger than the passenger on the left side of the host vehicle, the target parking position is moved from the center of the parking space to the left, and the seating position Said Left side of the occupant of the vehicle, when the seating position is greater than the right side of the occupant of the own vehicle, Before moving to the right the target parking position from the center of the parking space.

Claims (7)

A parking space detection unit for detecting the parking space;
A passenger position detection unit that detects a seating position of the passenger of the host vehicle;
An automatic parking control unit for parking the host vehicle at a target parking position in the parking space detected by the parking space detection unit;
A target parking position adjusting unit that adjusts the target parking position based on the sitting position of the passenger detected by the passenger position detecting unit;
A parking assistance device comprising: The target parking position adjustment unit adjusts the target parking position based on the number of passengers whose seating position is on the right side of the host vehicle and the number of passengers whose seating position is on the left side of the host vehicle.
The parking assistance device according to claim 1. The target parking position adjustment unit
When the seating position of the passenger on the right side of the host vehicle is larger than the passenger on the left side of the host vehicle, the target parking position is moved to the left,
When the seating position of the passenger on the left side of the host vehicle is larger than the passenger on the right side of the host vehicle, the target parking position is moved to the right.
The parking assistance device according to claim 2. A passenger attribute detection unit for detecting whether the passenger is an elderly person or an infant;
The target parking position adjustment unit multiplies the number of passengers who are elderly people or infants by a weighting factor larger than 1, and the number of passengers whose seating position is on the right side of the host vehicle and the seating position is the host vehicle. Count the number of passengers on the left side of
The parking assistance device according to claim 2 or claim 3. When the width of the parking space is smaller than a predetermined value and there is no passenger in the passenger seat, the target parking position adjustment unit moves the target parking position to the opposite side of the driver's seat of the host vehicle. The parking assistance device according to any one of claims 1 to 4, wherein the parking assistance device is used. A door obstacle detector for detecting an obstacle that interferes with the door of the host vehicle;
The said target parking position adjustment part moves the said target parking position to the side without the said obstacle regardless of the said seating position of the said passenger, when the said obstacle exists in only one side of the said parking space. The parking assistance device according to any one of claims 5 to 6. The parking space detector of the parking assistance device detects the parking space,
The passenger position detection unit of the parking assistance device detects the seating position of the passenger of the host vehicle,
The target parking position adjustment unit of the parking assist device adjusts the target parking position in the parking space based on the seating position of the passenger,
The automatic parking control unit of the parking assistance device parks the host vehicle at the target parking position,
Parking assistance method.

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