JP2020131832A - Parking support device and parking support method - Google Patents

Abstract

To enable a driver to easily park a vehicle, even when the vehicle shall be parked at a narrow place.SOLUTION: An obstacle existing in the periphery of a parking place, and an occupant position inside a cabin are detected. A parking position of a vehicle at the parking place is determined on the basis of the obstacle and the occupant position. Then, a guidance route for guiding the vehicle to the parking position is generated and output to a driver. Alternatively, the steering wheel is steered according to the guidance route. In this way, the vehicle can be easily parked at the appropriate parking position determined by taking into consideration a position of the obstacle and the occupant position, even when the vehicle shall be parked at narrow place.SELECTED DRAWING: Figure 2

Description

The present invention relates to a technique for assisting a driver of a vehicle in a parking operation when the vehicle is parked in a parking position.

Among the technologies for driving a vehicle, parking the vehicle is a relatively difficult technology. Therefore, a technique for assisting the parking operation has been proposed so that the driver can easily park the vehicle. For example, when parking, the distance to an obstacle is measured using a laser or the like to generate an image in which the driver can easily grasp the positional relationship between the vehicle and the obstacle and display it to the driver. Technology has been proposed.
In addition, even if the vehicle can be parked, the positional relationship between the space required to open and close the door and the obstacle is also determined in order to avoid a situation in which the door cannot be opened due to obstacles. A technique for displaying in a mode that is easy for the driver to recognize has also been proposed (Patent Document 1).

Japanese Unexamined Patent Publication No. 2011-16484

However, when trying to park a vehicle in a narrow space, even if it is notified that there is an obstacle in the space required to open and close the door, it will only increase the difficulty of parking and support parking. There was a problem that it was not.

The present invention has been made to solve the above-mentioned problems in the prior art, and is a technique for assisting a driver to easily park a vehicle even when the vehicle is parked in a narrow space. The purpose is to provide.

In order to solve the above-mentioned problems, the parking support device and the parking support method of the present invention detect obstacles existing around the parking place and the occupant position in the vehicle interior, and based on these, the parking place. Determine the parking position of the vehicle at. Then, a guidance route for guiding the vehicle to the parking position is generated and output to the driver. Alternatively, the steering wheel is steered according to the guidance path.
In this way, even when the vehicle is parked in a narrow space, the vehicle can be easily parked at an appropriate parking position determined in consideration of the position of the obstacle and the position of the occupant.

It is explanatory drawing of the vehicle 1 equipped with the parking support device 100 of this Example. It is explanatory drawing which showed the internal structure of the parking support device 100 of this Example. It is a flowchart of the parking support processing executed by the parking support device 100 of this embodiment. It is explanatory drawing which illustrates the guidance route 5 which guides a vehicle 1 when there is a sufficient space in a parking place. It is explanatory drawing which illustrated the case where an obstacle exists in a parking place. It is explanatory drawing which illustrates the guidance path 5 generated in consideration of the occupant position of a vehicle 1 when an obstacle exists in a parking place. It is explanatory drawing which exemplifies another aspect of the guidance path 5 generated in consideration of the occupant position of a vehicle 1 when an obstacle exists in a parking place. It is explanatory drawing which illustrated still another aspect of the guidance path 5 generated in consideration of the occupant position of a vehicle 1 when an obstacle exists in a parking place. It is explanatory drawing which showed the internal structure of the parking support device 150 of a modification.

Hereinafter, examples of the present invention will be described in order to clarify the contents of the present invention described above.
A. Device configuration :
FIG. 1 is an explanatory diagram of a vehicle 1 equipped with the parking support device 100 of this embodiment. As shown in the figure, the vehicle 1 is equipped with a rear camera 10 for photographing the rear situation and an in-vehicle camera 11 for photographing the situation inside the vehicle interior, and these are connected to the parking support device 100. Further, the vehicle 1 is equipped with a shift lever 12, and the forward or backward movement of the vehicle 1 can be switched by operating the shift lever 12. The shift lever 12 is equipped with a shift position sensor 12s that detects the position of the shift lever 12 (hereinafter, shift position), and the output of the shift position sensor 12s is input to the parking support device 100. Further, the vehicle 1 is also equipped with a display screen 15 such as a liquid crystal display, and the parking support device 100 can display an image on the display screen 15.

FIG. 2 shows a rough internal structure of the parking support device 100 of this embodiment. As shown in the figure, the parking support device 100 of this embodiment includes a shift position detection unit 101, an obstacle detection unit 102, an occupant position detection unit 103, a parking position determination unit 104, and a guidance route generation unit 105. , The guidance path output unit 106 is provided.
It should be noted that these "parts" are abstract concepts in which the functions provided by the parking support device 100 of the present embodiment to support the parking operation by the driver are conveniently classified, and the inside of the parking support device 100. However, it does not mean that they are physically divided into these "parts". These "parts" can be realized as hardware using an LSI or the like, can be realized as software executed on a CPU, or can be realized as a combination thereof.

The shift position detection unit 101 is connected to the shift position sensor 12s, and when it detects that the shift lever 12 is set to the retracted position, it outputs the fact to the obstacle detection unit 102 and the occupant position detection unit 103. ..
The obstacle detection unit 102 is connected to the rear camera 10, and when it receives information from the shift position detection unit 101 that the shift lever 12 has been set to the backward position, it acquires an image taken by the rear camera 10. Then, by analyzing the acquired image, when a parking place having a space in which the vehicle 1 can be parked is detected behind the vehicle 1, the position of an obstacle existing around the parking place is detected. Although the obstacle detection unit 102 of this embodiment is described as detecting the parking place and the obstacle by analyzing the image taken by the rear camera 10, other methods may be used. For example, the position of an obstacle can be detected by scanning an electromagnetic wave, a laser beam, an ultrasonic wave, or the like to detect reflection from an object. Then, if the position of the obstacle can be detected, the presence or absence of a space (that is, a parking place) in which the vehicle 1 can be parked can also be detected. Therefore, the parking place and the obstacle may be detected by such a method.

The occupant position detection unit 103 is connected to the in-vehicle camera 11, and when it receives information from the shift position detection unit 101 that the shift lever 12 is set to the backward position, it analyzes the image taken by the in-vehicle camera 11. , The position of the seat in which the occupant is sitting in the vehicle 1 (hereinafter referred to as the occupant position) is detected. The occupant position detection unit 103 of the present embodiment will be described as detecting the occupant position by analyzing an image of the interior of the vehicle 1 taken by the in-vehicle camera 11, but the position of an obstacle will be detected by using another method. May be detected. For example, a sensor for detecting an occupant may be attached to each seat of the vehicle 1 and the occupant position may be detected by the output from the sensor. Alternatively, the position of the portable device may be detected by detecting the radio wave from the portable device carried by the occupant, and the detected position of the portable device may be used as the occupant position.

Upon receiving the parking place and the position of the obstacle detected by the obstacle detection unit 102 and the occupant position detected by the occupant position detection unit 103, the parking position determination unit 104 parks the vehicle 1 in the parking place. Determine the desired position and direction to be (hereinafter referred to as the parking position). The details of the parking position will be explained in detail later, but the general rules are as follows. When parking the vehicle 1, it is of course necessary to park the vehicle so that the vehicle 1 does not come into contact with an obstacle, but it is not sufficient if the vehicle 1 does not come into contact with an obstacle. It is necessary to park the vehicle so that the occupants can open the door of the vehicle 1 and get off the vehicle. For that purpose, it is necessary to determine the position and direction in which the vehicle 1 is parked in the parking place in consideration of the ease of getting on and off the occupant in addition to not touching the obstacle. The parking position determination unit 104 determines such a parking position and outputs it to the guidance route generation unit 105.

When the guidance route generation unit 105 receives the parking position from the parking position determination unit 104, the guidance route generation unit 105 generates a route for guiding the vehicle 1 to the parking position (hereinafter referred to as a guidance route). Since the specifications of the vehicle 1 and the positions of obstacles are already known, the guidance route can be easily generated if the parking position is known.
When the guidance route output unit 106 receives the guidance route generated by the guidance route generation unit 105, it generates an image to be displayed on the display screen 15 and outputs the image to the display screen 15. In this way, the driver of the vehicle 1 can park the vehicle 1 at a desirable parking position in consideration of the position of the obstacle and the position of the occupant by reversing the vehicle 1 according to the guidance route displayed on the display screen 15. it can. Therefore, even when the vehicle 1 is parked in a parking place where there is not enough space, the driver can easily park the vehicle 1.

B. Parking support processing:
FIG. 3 shows a flowchart of the parking support process executed by the parking support device 100 of this embodiment.
In the parking support process, first of all, it is determined whether or not the shift position of the shift lever 12 is set to the backward position (S100). The shift position can be detected by the shift position sensor 12s.
As a result, if the shift position is not set to the backward position (S100: no), it is considered that parking assistance is unnecessary. Therefore, the parking support is set to the standby state by repeating the judgment of S100 without performing the following various operations. Become.

On the other hand, when the shift position is set to the backward position (S100: yes), the rear image of the vehicle 1 is acquired by using the rear camera 10 (S101). Subsequently, by analyzing the rear image, the vehicle 1 can be parked in a parking place and an obstacle existing in the parking place is detected (S102).
Then, it is determined whether or not there is a sufficiently large parking space in the parking place (S103). This is the following judgment.

FIG. 4 illustrates a situation in which the vehicle 1 is being parked in a parking place at home. In the illustrated example, the building, the fence, the storeroom, etc. at home are displayed with rough diagonal lines, and the space between them is the parking place. Further, the fan-shaped figures displayed by the broken lines on both sides of the vehicle 1 are the door opening / closing range required for opening / closing the door of the vehicle 1. The door opening / closing range 3d in the figure is a door opening / closing range required to open / close the driver's seat door, and the door opening / closing range 3a is a door opening / closing range required to open / close the passenger's seat door. Further, the door opening / closing range 3rr is a door opening / closing range required for opening / closing the door of the left rear seat, and the door opening / closing range 3rr is a door opening / closing range required for opening / closing the door of the right rear seat.

As shown in FIG. 4, when the vehicle 1 is parked in the parking place, the left and right door opening / closing ranges 3d, 3, 3rl, and 3rr of the vehicle 1 are parked so as not to come into contact with buildings, fences, or other obstacles. If this is possible, the parking support process of FIG. 3 determines that there is sufficient parking space (S103: yes).
When there is sufficient parking space (S103: yes), the vehicle 1 is parked so that the left and right door opening / closing ranges 3d, 3, 3rl, and 3rr of the vehicle 1 do not come into contact with buildings, fences, obstacles, or the like. Position 2 is determined (S104). In the parking place in FIG. 4, the parking position 2 of the vehicle 1 is indicated by a broken line.

Subsequently, a guidance route 5 that guides the vehicle 1 to the determined parking position 2 is generated (S105), and the generated guidance route 5 is output to the display screen 15 (S106).
After that, it returns to the beginning, determines whether or not the shift position is in the retracted position (S100), and if it remains in the retracted position (S100: yes), repeats the following series of operations described above (S101 to Yes). S106). As a result, the guidance route 5 displayed on the display screen 15 is updated every moment, and the driver can park the vehicle 1 at the parking position 2 while looking at the display screen 15.

In the above, as illustrated in FIG. 4, a case where there is a sufficient parking space in the parking place (S103: yes) has been described.
However, as illustrated in FIG. 5, when an obstacle (for example, a spare tire 50 or a motorcycle 51) is placed in the parking place, if the vehicle is parked normally, the left and right door opening / closing range 3d of the vehicle 1 Obstacles get into 3, 3 rl and 3 rr. In such a case, it is determined that there is not enough parking space (S103: yes in FIG. 3).

When there is not enough parking space, the parking position is detected in consideration of the occupant position after detecting the occupant position in the vehicle interior by analyzing the image of the in-vehicle camera 11 mounted in the interior of the vehicle 1 (S107). 2 is determined (S108).
In the example shown in FIG. 6, in addition to the driver Pd of the vehicle 1, the occupant Pp sitting in the left rear seat is detected. Therefore, the parking position 2 is determined so that obstacles (spare tire 50 and motorcycle 51 in FIG. 6) do not enter the driver's seat door opening / closing range 3d and the left rear seat door opening / closing range 3rl. In the example shown in FIG. 6, the spare tire 50 is inserted in the passenger seat door opening / closing range 3a, but since no occupant is sitting in the passenger seat, there is no problem even if the passenger seat door cannot be opened. There is no.

Further, as illustrated in FIG. 7, when the occupant Pp of the right rear seat is detected in addition to the driver Pd of the vehicle 1, the door opening / closing range 3d of the driver's seat and the door opening / closing range of the right rear seat are detected. It is sufficient that no obstacle enters 3rr. Therefore, the parking position 2 shown by the broken line in FIG. 7 is determined.
Of course, it is not always possible to determine the parking position 2 so that an obstacle does not enter the door opening / closing range corresponding to all the detected occupant positions. For example, as illustrated in FIG. 8, in addition to the driver Pd of the vehicle 1, the occupant Pp of the left rear seat is detected, and obstacles (here, the spare tire 50 and the motorcycle 51) are in the parking place. If it is placed on the left side, determine the parking position 2 so that obstacles do not enter the door opening / closing range 3d of the driver's seat and obstacles do not enter the door opening / closing range 3rl of the left rear seat. It is difficult.

In such a case, as shown in FIG. 8, there is an obstacle in the door opening / closing range 3d (that is, the door opening / closing range 3d and the door opening / closing range 3rr) on the driver's seat side (the right side of the vehicle 1 in this embodiment). The parking position 2 is determined so as not to enter. It is difficult for the driver in the driver's seat to move the passenger compartment to the passenger seat, but it is easy for the occupant in the left rear seat to move the passenger compartment to the right rear seat. Therefore, if the vehicle is parked so that obstacles do not enter the door opening / closing range 3rr of the right rear seat, the occupant of the left rear seat can easily get off from the door of the right rear seat.

After the parking position 2 of the vehicle 1 is determined as described above (S108 in FIG. 3), the guidance route 5 to the parking position 2 is generated (S109), and the obtained guidance route 5 is output to the display screen 15. (S110).
After that, it returns to the beginning, determines whether or not the shift position is in the retracted position (S100), and if it remains in the retracted position (S100: yes), repeats the following series of operations described above (S101 to Yes). S103, S107 to S110). As a result, the guidance route 5 displayed on the display screen 15 is updated every moment, and the driver can park the vehicle 1 at the parking position 2 while looking at the display screen 15.
As a result, the driver can easily park the vehicle 1 even if there is not enough parking space in the parking place.

C. Modification example:
In the parking support device 100 of the present embodiment described above, the guidance route 5 for guiding the vehicle 1 to the parking position 2 is displayed on the display screen 15 to support the driver's parking operation. Therefore, it is necessary for the driver to operate the steering wheel.
However, some of today's vehicles 1 are equipped with a steering actuator that steers the steering wheel, and in such a vehicle 1, at least the steering wheel operation may be automatically performed according to the guidance path 5.

FIG. 9 shows the internal structure of the parking support device 150 of such a modified example. The parking support device 150 of the illustrated modification is different from the parking support device 100 of the present embodiment described above with reference to FIG. 3 in that a steering control unit 151 is mounted instead of the guidance path output unit 106. ing.
The steering control unit 151 is connected to the steering actuator 20 that steers the steering wheel. Then, when the guidance path 5 is received from the guidance path generation unit 105, the steering actuator 20 is controlled so that the vehicle 1 moves backward along the guidance path 5. In the modified parking support device 150, the driver operates the accelerator and the brake. Of course, by mounting the accelerator control unit that controls the accelerator operation and the brake control unit that controls the brake operation on the parking support device 150, the parking support device 150 may also perform the accelerator operation and the brake operation.
In this way, even if there is not enough parking space in the parking place, the driver can park the vehicle 1 more easily.

Although the parking support devices 100 and 150 of the examples and modifications of the present invention have been described above, the present invention is not limited to the above examples and modifications, and in various embodiments within the scope of the gist thereof. Can be carried out.

1 ... Vehicle, 2 ... Parking position, 3a, 3d, 3rl, 3rr ... Door opening / closing range,
5 ... Guidance route, 10 ... Rear camera, 11 ... In-car camera,
12 ... shift lever, 12s ... shift position sensor, 15 ... display screen,
100 ... Parking support device, 101 ... Shift position detection unit, 102 ... Obstacle detection unit,
103 ... Crew position detection unit, 104 ... Parking position determination unit, 105 ... Guidance route generation unit,
106 ... Guidance route output unit, 150 ... Parking support device, 151 ... Steering control unit.

Claims (6)

A parking support device (100) that assists the driver of the vehicle (1) in a parking operation for parking the vehicle in a parking place.
An obstacle detection unit (102) that detects obstacles (50, 51) existing around the parking place, and
An occupant position detection unit (103) that detects an occupant position in the vehicle interior of the vehicle, and
A parking position determination unit (104) that determines the parking position (2) of the vehicle at the parking location based on the position of the obstacle and the occupant position.
A guidance route generation unit (105) that generates a guidance route (5) that guides the vehicle so that the parking position can be obtained.
A parking support device including a guidance route output unit (106) that outputs the guidance route on the display screen (15). The parking support device according to claim 1.
The parking position determining unit stores the door opening / closing range (3d, 3a, 3rl, 3rr) required for opening / closing the door of the vehicle, and the obstacle is within the door opening / closing range of the door at the occupant position. A parking support device characterized in that the parking position is determined so that the door does not enter. The parking support device according to claim 1 or 2.
When the parking position determination unit cannot determine the parking position in which the obstacle does not enter within the door opening / closing range corresponding to all the occupant positions detected by the occupant position detection unit, at least. A parking support device for determining a parking position in which an obstacle does not enter within the door opening / closing range of the occupant position on the side where the driver's seat exists. The parking support device according to any one of claims 1 to 3.
A shift position detection unit (101) for detecting that the shift position of the vehicle is set to the reverse position is provided.
The parking support device is characterized in that the guidance route output unit outputs the guidance route when it detects that the shift position is set to the backward position. A parking support device (150) that assists the driver of the vehicle (1) in a parking operation for parking the vehicle in a parking place.
An obstacle detection unit (102) that detects obstacles (50, 51) existing around the parking place, and
An occupant position detection unit (103) that detects an occupant position in the vehicle interior of the vehicle, and
A parking position determination unit (104) that determines the parking position (2) of the vehicle at the parking location based on the position of the obstacle and the occupant position.
A guidance route generation unit (105) that generates a guidance route (5) that guides the vehicle so that the parking position can be obtained.
A parking support device including a steering control unit (151) that controls steering of the vehicle based on the guidance path. A parking support method that assists the driver of the vehicle (1) in a parking operation for parking the vehicle in a parking place.
The step (S102) of detecting obstacles (50, 51) existing around the parking place, and
The step of detecting the occupant position in the passenger compartment of the vehicle (S107) and
A step (S108) of determining the parking position (2) of the vehicle at the parking place based on the position of the obstacle and the position of the occupant.
A step (S109) of generating a guidance path (5) for guiding the vehicle so that the parking position can be obtained, and
A parking support method including a step (S110) of outputting the guidance route on the display screen (15).

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