JP2021183431A - Parking support device and parking support method - Google Patents

Abstract

To park a vehicle in second target parking position which proceeds further ahead when it is possible to park a vehicle by proceeding ahead farther than a first target parking position.SOLUTION: A parking support device 100 is a parking support device 100 which supports parking of a vehicle 1 and comprises an obstacle detection unit 134 which detects an obstacle RT around the vehicle 1, a target parking position determination unit 135 which determines a first target parking position P3 on the basis of a detection result of the obstacle detection unit 134 and a travel control unit 137 which causes the vehicle 1 to travel in the first target parking position P3. The target parking position determination unit 135 determines a second target parking position P4 different from the first target parking position P3 on the basis of a detection result of the obstacle detection unit 134 after starting travel of the vehicle 1 toward the first target parking position P3.SELECTED DRAWING: Figure 1

Description

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

Conventionally, a technique relating to parking support for a vehicle is disclosed in, for example, Patent Document 1. Patent Document 1 states that "a parking support device that recognizes a parking frame and assists in parking a vehicle at a predetermined position according to the recognized parking frame, and assumes that the own vehicle is parked at the predetermined position. A parking support device, characterized in that it determines whether or not the own vehicle can be parked at the predetermined position based on the availability around the predetermined position. "

International Publication No. 2019/0128848

However, in the parking support device described in Patent Document 1, the detectable range of obstacles changes due to the movement of the vehicle, and for example, it can be recognized that there is no obstacle ahead of the parking frame which is the target parking position. However, it was not possible to go further and park using the parking support device.
An object of the present invention is to provide a parking support device and a parking support method capable of further parking when it is possible to park further ahead of the target parking position.

In order to achieve the above object, the parking support device of the present invention is a parking support device that assists parking of a vehicle, and includes an obstacle detection unit that detects an obstacle around the vehicle and an obstacle detection unit. A position determining unit that determines a target parking position based on the detection result and a traveling control unit that causes the vehicle to travel to the target parking position are provided, and the positioning unit determines the vehicle toward the target parking position. After starting the running, the corrected target parking position different from the target parking position is determined based on the detection result of the obstacle detection unit.

According to the present invention, after the vehicle starts traveling toward the target parking position, a corrected target parking position different from the target parking position is determined based on the detection result of the obstacle detection unit. If it is possible to park at the corrected target parking position, which is further ahead of the parking position, the vehicle can be parked at the corrected target parking position.

It is a figure which shows an example of the structure of the in-vehicle device including the parking support device. It is a top view which shows an example of a 1st target parking position and a parking route. It is a top view which shows an example of the vehicle which stopped at the 1st target parking position. It is a screen view which shows an example of the parking support screen which is displayed when the obstacle is not detected in the 1st target parking position. It is a screen view which shows an example of the parking support screen which is displayed when the obstacle is detected in the 1st target parking position. It is a screen view which shows an example of the parking support screen which is displayed when the obstacle is not detected in the 2nd target parking position. It is a flowchart which shows an example of the processing of a parking support device. It is a flowchart which shows an example of the processing of a parking support device.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing an example of a configuration of an in-vehicle device 3 including a parking support device 100. The in-vehicle device 3 is mounted on the vehicle 1.
The in-vehicle device 3 includes a position detection unit 10, a detection unit 20, an operation unit 50, a display unit 60, a vehicle control unit 70, a steering device 71, a drive device 73, a braking device 75, a transmission device 77, and a parking support device 100.

The position detection unit 10 detects the position of the vehicle 1. The position detection unit 10 includes a GNSS receiver that receives a GNSS (Global Navigation Satellite System) signal, and a processor that calculates the position of the vehicle 1 based on the GNSS signal received by the GNSS receiver. The illustration of the GNSS receiver and the processor is omitted. The position detection unit 10 outputs position information indicating the position of the vehicle 1 to the parking support device 100.

The detection unit 20 includes one or a plurality of sensors that detect an obstacle RT (see FIG. 5) around the vehicle 1 and detect the distance between the detected obstacle RT and the vehicle 1. The detection unit 20 of the present embodiment includes a photographing unit 30 and a sonar unit 40 as sensors. The detection unit 20 outputs the captured image of the photographing unit 30 and the sensor value of the sonar unit 40 to the parking support device 100 as detection information.
In the present embodiment, the case where the detection unit 20 includes a camera and a sonar sensor will be described, but the sensor included in the detection unit 20 is not limited to the camera and the sonar sensor. For example, the detection unit 20 may include a radar or LiDAR (Light Detection and Ringing) capable of measuring the distance to the obstacle RT by using radio waves, light, or the like.

The photographing unit 30 includes a front camera 31 for photographing the front of the vehicle 1, a rear camera 33 for photographing the rear of the vehicle 1, a left side camera 35 for photographing the left side of the vehicle 1, and a right for photographing the right side of the vehicle 1. A side camera 37 is provided. Each of these cameras includes an image sensor such as a CCD (Charge-Coupled Device) or CMOS (Complementary Metal-Oxide-Semiconductor), and a data processing circuit that generates a captured image from the image sensor.
The shooting unit 30 adjusts the angle of view of each of the four cameras so that the four cameras can shoot a range of 360 ° around the vehicle 1. Each of the front camera 31, the rear camera 33, the left side camera 35, and the right side camera 37 shoots a shooting range at a predetermined frame rate to generate a shot image. The photographing unit 30 outputs the generated photographed image to the parking support device 100. The parking support device 100 stores the input captured image in the memory 110.

The sonar unit 40 is provided with sonar sensors at a plurality of locations such as the front, rear, left side, and right side of the vehicle 1, and detects the size, position, and distance to the obstacle RT using ultrasonic waves. ..
In the present embodiment, the case where the sonar unit 40 detects the obstacle RT will be described, but the present invention is not limited thereto. For example, the photographing unit 30 may detect the obstacle RT. Further, for example, a radar or LiDAR may detect an obstacle RT.

The operation unit 50 receives the operation of the user who got on the vehicle 1. The user is, for example, a driver. The operation unit 50 outputs an operation signal corresponding to the received operation to the parking support device 100. The operation accepted by the operation unit 50 includes, for example, an operation for instructing the start of the parking support process, an operation for ending the parking support process, and the like.
The operation unit 50 includes, for example, a parking support on switch (not shown) and a parking support off switch (not shown), and when the parking support on switch is pressed, the parking support device 100 starts the parking support process. Accepts the operation to instruct. If the parking support off switch is pressed while the parking support process is being executed, the parking support device 100 accepts an operation to end the parking support process.
The "parking support process" indicates a process in which the parking support device 100 determines a target parking position, drives the vehicle 1 toward the target parking position, and stops the vehicle 1 at the target parking position.

The display unit 60 includes a display panel 61 and a touch sensor 63.
A liquid crystal display, an organic EL display, or the like is used for the display panel 61. The display unit 60 causes the display panel 61 to display a display image based on the display data input from the parking support device 100.
As the touch sensor 63, a sensor such as a resistance film type or a capacitance type is used. The display unit 60 detects a touch operation with the user's finger on the display panel 61 by the touch sensor 63, and generates a position signal indicating the operation position of the detected touch operation. The display unit 60 outputs the generated position signal to the parking support device 100.

The vehicle control unit 70 controls the steering device 71, the drive device 73, the braking device 75, and the transmission device 77 mounted on the vehicle 1. The vehicle control unit 70 includes, for example, a computer such as an ECU (Electronic Control Unit). Further, the vehicle control unit 70 is communicably connected to the steering device 71, the drive device 73, the braking device 75, and the transmission device 77 via an in-vehicle network such as CAN (Control Area Network).
Further, the vehicle control unit 70 controls the steering device 71, the drive device 73, the braking device 75, and the transmission device 77 according to the control information input from the parking support device 100. As a result, for example, the vehicle 1 travels toward the target parking position.
The target parking position is a target value of the parking position determined by the parking support device 100.

The steering device 71 is a device for steering the vehicle 1 including an actuator for adjusting the steering angle of the steering wheel of the vehicle 1.
The drive device 73 is a device that drives the vehicle 1 including an actuator that adjusts the driving force of the drive wheels of the vehicle 1. This actuator corresponds to a throttle actuator when the power source of the vehicle 1 is an engine, and corresponds to the motor when the power source of the vehicle 1 is a motor.
The braking device 75 is a device that brakes the vehicle 1 including an actuator that adjusts the braking force applied to the wheels of the vehicle 1. This actuator controls the brake system provided in the vehicle 1 based on the control information from the parking support device 100.
The transmission 77 is a device that includes a transmission and an actuator, and switches the gear ratio and the like of the transmission. The transmission 77 switches the gear ratio of the transmission and the forward and reverse movements of the vehicle 1 by driving the actuator and adjusting the shift position of the transmission.

The parking support device 100 is a computer including a processor 130 such as a CPU (Central Processing Unit) and an MPU (Micro-Processing Unit), and a memory 110 such as a ROM (Read Only Memory) and a RAM (Random Access Memory). .. In addition to these devices, the parking support device 100 is via a storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive), an interface circuit for connecting sensors, peripheral devices, and the like, and an in-vehicle network. It is equipped with an in-vehicle network communication circuit that communicates with other in-vehicle devices. The parking support device 100 realizes various functional configurations by executing a control program stored in the memory 110 or the storage device by the processor 130.

The parking support device 100 includes a position acquisition unit 131, a detection information acquisition unit 132, a map generation unit 133, an obstacle detection unit 134, a target parking position determination unit 135, a route generation unit 136, a travel control unit 137, and a display control unit 138. Be prepared. Specifically, the processor 130 executes a control program stored in the memory 110 or the storage device to obtain a position acquisition unit 131, a detection information acquisition unit 132, a map generation unit 133, an obstacle detection unit 134, and a target parking position. It functions as a determination unit 135, a route generation unit 136, a travel control unit 137, and a display control unit 138.

The position acquisition unit 131 acquires the position of the vehicle 1 detected by the position detection unit 10 as position information. The position acquisition unit 131 estimates the position of the vehicle 1 by using a known dead reckoning method, and corrects the position of the vehicle 1 input from the position detection unit 10 based on the estimation result.

The detection information acquisition unit 132 acquires a photographed image taken by the photographing unit 30 around the vehicle 1 as detection information. The detection information acquisition unit 132 stores the acquired captured image in the memory 110. Further, the detection information acquisition unit 132 acquires the sensor value of the sonar unit 40 as detection information. The detection information acquisition unit 132 stores the acquired sensor value in the memory 110.

The map generation unit 133 generates map data in which the obstacle RT around the vehicle 1 and the position of the vehicle 1 are recorded in the local coordinate system. This map data is stored in the memory 110. The obstacle RT is an object that hinders or regulates the running of the vehicle 1. Examples of the obstacle RT include buildings such as pillars and walls, poles and ground division lines that divide the traveling area where the vehicle 1 can travel and the parking area, other vehicles, carts, pedestrians, and the like. ..
Further, the map generation unit 133 is based on the position of the vehicle 1 sequentially input from the position acquisition unit 131 and the detection information acquired by the detection information acquisition unit 132, and the position of the vehicle 1 which is the registration information of the map data and the failure. The position and size of the object RT are updated sequentially.

In the present embodiment, the case where the map data is generated by the map generation unit 133 will be described, but the parking support device 100 may acquire the map data in which the position of the obstacle RT is recorded in advance. For example, the parking support device 100 may download the map data from the server device, or the parking support device 100 may read the map data stored in advance in the memory 110. In these cases, the parking support device 100 records the position of the vehicle 1 input from the position acquisition unit 131 in the acquired map data to generate map data.

The obstacle detection unit 134 detects the obstacle RT around the vehicle 1. Further, the obstacle detection unit 134 detects the obstacle RT in the traveling direction of the vehicle 1.
The obstacle detection unit 134 detects the obstacle RT in the traveling direction of the vehicle 1 based on the map data generated by the map generation unit 133.
The obstacle detection unit 134 detects, for example, an obstacle RT whose distance to the vehicle 1 is equal to or less than a preset set distance. The set distance is set, for example, based on the detectable range of the sonar unit 40. The detectable range of the sonar unit 40 indicates a range in which the sonar unit 40 can be detected with good accuracy. The set distance is, for example, 5 m.
Further, the obstacle RT detected by the obstacle detection unit 134 is a candidate object that can be an obstacle to the traveling of the vehicle 1 when the vehicle 1 is driven along the parking route, for example. The parking route is generated by the route generation unit 136.

The target parking position determination unit 135 determines the target parking position, which is the position where the vehicle 1 is parked. The target parking position determination unit 135 determines the target parking position for parking the vehicle 1 based on the map data generated by the map generation unit 133 and the detection result of the obstacle detection unit 134.

In the present embodiment, a case where the vehicle 1 is parked in the passage portion corresponding to the rod of the flagpole will be described with reference to FIGS. 2 to 6. In this case, the target parking position determining unit 135 detects a parkable area based on, for example, the captured image of the photographing unit 30 and the sensor value of the sonar unit 40. The target parking position determination unit 135 determines the first target parking position P3 based on the detection result of the parkingable area and the map data. The first target parking position P3 is determined in the vicinity of the entrance / exit of the passage portion corresponding to the rod of the flagpole, as will be described later with reference to FIG.
The first target parking position P3 corresponds to an example of the “target parking position”.

Further, the target parking position determination unit 135 determines the second target parking position P4 when the vehicle 1 is stopped at the first target parking position P3.
When the obstacle detection unit 134 does not detect the obstacle RT, the target parking position determination unit 135 determines the second target parking position P41 based on the detectable range of the sonar unit 40. The second target parking position P41 corresponds to an example of the second target parking position P4.
The second target parking position P41 will be described later with reference to FIG.
The second target parking position P41 corresponds to an example of the “corrected target parking position”.

When the obstacle detection unit 134 detects the obstacle RT, the target parking position determination unit 135 determines the second target parking position P42 based on the position of the obstacle RT. The second target parking position P42 corresponds to an example of the second target parking position P4.
The second target parking position P42 will be described later with reference to FIG.
The second target parking position P42 corresponds to an example of the “corrected target parking position”.

When the obstacle detection unit 134 detects the obstacle RT, the target parking position determination unit 135 determines the second target parking position P42 based on the accuracy of the travel control of the travel control unit 137.
For example, the higher the accuracy of the travel control of the travel control unit 137, the closer the second target parking position P42 is to the obstacle RT.
Further, a small vehicle, for example, a light vehicle, has a higher accuracy of travel control of the travel control unit 137 than a large vehicle, for example, a large truck, a large bus, or the like.
Therefore, when the vehicle 1 is a small vehicle, the target parking position determination unit 135 determines the second target parking position P42 at a position closer to the obstacle RT as compared with the case where the vehicle 1 is a large vehicle. ..

Further, the target parking position determination unit 135 determines the third target parking position P5 when the vehicle 1 is stopped at the second target parking position P41.
When the obstacle detection unit 134 does not detect the obstacle RT, the target parking position determination unit 135 determines the third target parking position P5 based on the detectable range of the sonar unit 40.
The third target parking position P5 will be described later with reference to FIG.

In the present embodiment, the target parking position determination unit 135 determines the second target parking position P4 when the vehicle 1 is stopped at the first target parking position P3, but the present invention is not limited to this. The target parking position determination unit 135 may determine the second target parking position P4 after starting the traveling of the vehicle 1 toward the first target parking position P3. The target parking position determination unit 135 starts traveling the vehicle 1 toward the first target parking position P3, and the second target parking position P4 until the vehicle 1 stops at the first target parking position P3, for example. May be decided. In this case, the vehicle 1 may be driven toward the second target parking position P4 without stopping the vehicle 1 at the first target parking position P3.

The route generation unit 136 generates a parking route. The route generation unit 136 generates a parking route for parking the vehicle 1 at the target parking position without contacting the obstacle RT based on the map data generated by the map generation unit 133. In the following, the parking route first generated by the route generation unit 136 after the start of parking support will be referred to as a parking route R1. The route generation unit 136 outputs the generated parking route R1 to the travel control unit 137.

The travel control unit 137 generates control information for controlling the travel of the vehicle 1 based on the parking route R1 generated by the route generation unit 136. This control information is information for driving the vehicle 1 along the parking path R1, and includes information for controlling steering, driving, braking, and shifting, respectively.
The travel control unit 137 controls the travel of the vehicle 1 based on the generated control information. For example, the travel control unit 137 controls the travel of the vehicle 1 to the first target parking position P3 along the parking route R1.

The display control unit 138 generates display data to be displayed on the display panel 61, and outputs the generated display data to the display unit 60.
When the vehicle 1 is stopped at the first target parking position P3, the display control unit 138 displays, for example, a parking support screen 300 displaying the second target parking position P41 or a parking support screen displaying the second target parking position P42. Generate 400. Then, the display control unit 138 displays the parking support screen 300 or the parking support screen 400 on the display panel 61.
The parking support screen 300 will be described later with reference to FIG.
The parking support screen 400 will be described later with reference to FIG.

Further, the display control unit 138 generates a parking support screen 500 that displays, for example, the third target parking position P5 when the vehicle 1 is stopped at the second target parking position P41. Then, the display control unit 138 displays the parking support screen 500 on the display panel 61.
The parking support screen 500 will be described later with reference to FIG.

FIG. 2 is a plan view showing an example of the first target parking position P3 and the parking route R1. The shaded area shown in FIGS. 2 to 6 indicates an area where the vehicle 1 cannot travel, for example, a wall, a building, or the like.
The initial position P1 indicates the position of the vehicle 1 when the operation unit 50 receives an operation instructing the start of the parking support process from the user.
When the operation unit 50 receives an operation instructing the start of the parking support process from the user while the vehicle 1 is arranged at the initial position P1, the target parking position determination unit 135 sets the first target parking position P3. decide.
The first target parking position P3 is determined, for example, in the vicinity of the entrance / exit EE of the passage PW corresponding to the rod of the flagpole. The flagpole has a rectangular site on the opposite side of the entrance / exit EE of the passage PW, that is, on the lower side of FIG. 2, for example, a house or the like is arranged. The rectangular site corresponds to the flag of the flagpole.

The parking route R1 generated by the route generation unit 136 may include a route in which the vehicle 1 is temporarily stopped and the traveling direction of the vehicle 1 is changed after the vehicle 1 starts traveling along the route. The change of the traveling direction includes a case of changing the traveling direction of the vehicle 1 from forward to reverse and a case of changing from reverse to forward. Hereinafter, the position where the vehicle 1 is temporarily stopped for changing the traveling direction is referred to as an intermediate position P2. The intermediate position P2 may include a position where the vehicle 1 turns left, a position where the vehicle 1 turns right, and the like.

As shown in FIG. 2, a case where the parking route R1 is composed of, for example, the parking route R11 and the parking route R12 will be described. The parking route R11 is a section in which the vehicle 1 is driven forward, and the parking route R12 is a section in which the vehicle 1 is driven in reverse.

Further, the parking route R1 includes an initial position P1, an intermediate position P2, and a first target parking position P3.
The travel control unit 137 starts the vehicle 1 at the initial position P1 and travels forward along the parking path R11 toward the intermediate position P2. When the intermediate position P2 is reached, the vehicle 1 temporarily stops, and the traveling direction is switched from forward to reverse via the transmission 77. After that, the vehicle 1 travels backward toward the first target parking position P3 along the parking route R12, and when the vehicle 1 reaches the first target parking position P3, the vehicle 1 stops.

The vehicle range 220 indicates the range of the vehicle 1 at the intermediate position P2. The vehicle range 230 indicates the range of the vehicle 1 at the first target parking position P3.
As shown in FIG. 2, the travel control unit 137 controls the travel of the vehicle 1 so that the vehicle 1 is arranged within the vehicle range 220 when the vehicle 1 reaches the intermediate position P2.

FIG. 3 is a plan view showing an example of the vehicle 1 stopped at the first target parking position P3.
As shown in FIG. 3, the travel control unit 137 controls the travel of the vehicle 1 so that the vehicle 1 is arranged within the vehicle range 230 when the vehicle 1 reaches the first target parking position P3.
Further, when the vehicle 1 is stopped at the first target parking position P3, there is no obstacle on the lower side of the vehicle 1 in FIG. 3, which is the traveling direction of the vehicle 1. Therefore, the vehicle 1 can move further backward.

FIG. 4 is an example of a parking support screen 300 displayed on the display panel 61 by the display control unit 138 when the obstacle detection unit 134 does not detect the obstacle RT when the vehicle 1 is stopped at the first target parking position P3. It is a screen view which shows.
On the parking support screen 300, a bird's-eye view image BV of the vehicle 1 taken from above is displayed. The bird's-eye view image BV is an image generated by synthesizing the captured images of the front camera 31, the rear camera 33, the left side camera 35, and the right side camera 37 shown in FIG.
The bird's-eye view image BV includes the passage image PWa. The passage image PWa corresponds to the passage PW shown in FIGS. 2 and 3.

Further, the parking support screen 300 includes a first target parking position image P3a, a vehicle range image 230a, a second target parking position image P41a, a vehicle range image 240a, and a parking route image R21a.
When the obstacle detection unit 134 does not detect the obstacle RT when the vehicle 1 is stopped at the first target parking position P3, the target parking position determination unit 135 is based on the detectable range of the obstacle detection unit 134. , The second target parking position P41 is determined. The route generation unit 136 generates a parking route R21 for parking the vehicle 1 at the second target parking position P41 without contacting the obstacle RT based on the map data generated by the map generation unit 133. Further, the travel control unit 137 controls the travel of the vehicle 1 so that the vehicle 1 is arranged within the vehicle range 240 when the vehicle 1 reaches the second target parking position P41.

The first target parking position image P3a is an image showing the first target parking position P3, and the vehicle range image 230a is an image showing the vehicle range 230. In FIG. 4, the vehicle range image 230a is shown by a broken line.
The second target parking position image P41a is an image showing the second target parking position P41, and the vehicle range image 240a is an image showing the vehicle range 240. In FIG. 4, the vehicle range image 240a is shown by a solid line.
The parking route image R21a is an image showing the parking route R21.

Further, the guidance image 310 is displayed on the parking support screen 300.
The guidance image 310 includes a guidance display unit 311, a YES button 312, and a NO button 313.
Guidance information for the user is displayed on the guidance display unit 311. Guidance information such as "Do you want to add and move backward?" Is displayed on the guidance display unit 311.
The YES button 312 is touched by the user when the vehicle 1 is moved backward from the first target parking position P3 to the second target parking position P41. When the touch sensor 63 detects that the YES button 312 is touched, the travel control unit 137 causes the steering device 71 to move the vehicle 1 backward from the first target parking position P3 to the second target parking position P41. , The drive device 73, the braking device 75, and the transmission 77.
The touch sensor 63 corresponds to an example of the “reception unit”.
In the present embodiment, the case where the touch sensor 63 accepts the user's instruction will be described, but the operation unit 50 may accept the user's instruction.
Further, when the YES button 312 is touched, the vehicle 1 reaches the second target parking position P41, and the vehicle 1 is stopped within the vehicle range 240 by the traveling control unit 137, the display control unit 138 displays the display panel 61. The parking support screen 500 shown in FIG. 6 is displayed.
The NO button 313 is touched by the user when the vehicle 1 is not moved backward from the first target parking position P3 to the second target parking position P41. When the NO button 313 is touched, the parking support device 100 ends the parking support process.

FIG. 5 is an example of a parking support screen 400 displayed on the display panel 61 by the display control unit 138 when the obstacle detection unit 134 detects an obstacle RT while the vehicle 1 is stopped at the first target parking position P3. It is a screen view which shows.
On the parking support screen 400, a bird's-eye view image BV of the vehicle 1 taken from above is displayed.
The bird's-eye view image BV includes a passage image PWa and an obstacle image RTa. The passage image PWa corresponds to the passage PW shown in FIGS. 2 and 3. The obstacle image RTa shows the obstacle RT arranged in the passage PW. The obstacle RT is, for example, three triangular cones arranged along the width direction of the passage PW.

Further, the parking support screen 300 includes a first target parking position image P3a, a vehicle range image 230a, a second target parking position image P42a, a vehicle range image 240a, and a parking route image R22a.
When the obstacle detection unit 134 detects the obstacle RT while the vehicle 1 is stopped at the first target parking position P3, the target parking position determination unit 135 uses the position of the obstacle RT as the second target. The parking position P42 is determined. The target parking position determination unit 135 determines, for example, the second target parking position P42 at a position in front of the obstacle RT in the traveling direction. The route generation unit 136 generates a parking route R22 for parking the vehicle 1 at the second target parking position P42 without contacting the obstacle RT, based on the map data generated by the map generation unit 133. Further, the travel control unit 137 controls the travel of the vehicle 1 so that the vehicle 1 is arranged within the vehicle range 250 when the vehicle 1 reaches the second target parking position P42.

The first target parking position image P3a is an image showing the first target parking position P3, and the vehicle range image 230a is an image showing the vehicle range 230. In FIG. 5, the vehicle range image 230a is shown by a broken line.
The second target parking position image P42a is an image showing the second target parking position P42, and the vehicle range image 250a is an image showing the vehicle range 250. In FIG. 5, the vehicle range image 250a is shown by a solid line.
The parking route image R22a is an image showing the parking route R22.

Further, the guidance image 410 is displayed on the parking support screen 400.
The guidance image 410 includes a guidance display unit 411, a YES button 412, and a NO button 413, similarly to the guidance image 310 shown in FIG.
Since each of the guidance display unit 411, the YES button 412, and the NO button 413 corresponds to the guidance display unit 311, the YES button 312, and the NO button 313 shown in FIG. 4, the description thereof will be omitted. However, when the YES button 412 is touched, the travel control unit 137 brakes the steering device 71, the drive device 73, and the vehicle so as to move the vehicle 1 backward from the first target parking position P3 to the second target parking position P42. It controls the device 75 and the transmission 77. That is, in FIG. 4, the vehicle 1 is moved backward from the first target parking position P3 to the second target parking position P41, whereas in FIG. 5, the vehicle 1 is moved backward from the first target parking position P3 to the second target parking position P42. It is different in that it moves backward to.
Further, when the YES button 412 is touched, the vehicle 1 reaches the second target parking position P42, and the vehicle 1 is stopped within the vehicle range 250 by the traveling control unit 137, the parking support device 100 provides parking support. End the process.

In the present embodiment, the case where the obstacle RT is a traffic cone has been described, but the present invention is not limited to this. The obstacle RT may be an object that hinders or regulates the running of the vehicle 1. The obstacle RT may be, for example, a building such as a pillar or a wall, a pole that divides a traveling area where the vehicle 1 can travel and a parking area, a division line on the ground, another vehicle, or the like.

FIG. 6 is an example of a parking support screen 500 displayed on the display panel 61 by the display control unit 138 when the obstacle detection unit 134 does not detect the obstacle RT while the vehicle 1 is stopped at the second target parking position P41. It is a screen view which shows.
On the parking support screen 500, a bird's-eye view image BV of the vehicle 1 taken from above is displayed.
The bird's-eye view image BV includes the passage image PWa. The passage image PWa corresponds to the passage PW shown in FIGS. 2 and 3.

Further, the parking support screen 300 includes a second target parking position image P41a, a vehicle range image 240a, a third target parking position image P5a, a vehicle range image 260a, and a parking route image R3a.
When the obstacle detection unit 134 does not detect the obstacle RT when the vehicle 1 is stopped at the second target parking position P41, the target parking position determination unit 135 is based on the detectable range of the obstacle detection unit 134. , Determine the third target parking position P5. The route generation unit 136 generates a parking route R3 for parking the vehicle 1 at the third target parking position P5 without contacting the obstacle RT based on the map data generated by the map generation unit 133. Further, the travel control unit 137 controls the travel of the vehicle 1 so that the vehicle 1 is arranged within the vehicle range 260 when the vehicle 1 reaches the third target parking position P5.

The second target parking position image P41a is an image showing the second target parking position P41, and the vehicle range image 240a is an image showing the vehicle range 240. In FIG. 6, the vehicle range image 240a is shown by a broken line.
The third target parking position image P5a is an image showing the third target parking position P5, and the vehicle range image 260a is an image showing the vehicle range 260. In FIG. 6, the vehicle range image 260a is shown by a solid line.
The parking route image R3a is an image showing the parking route R3.

Further, the guidance image 510 is displayed on the parking support screen 500.
The guidance image 510 includes a guidance display unit 511, a YES button 512, and a NO button 513, similarly to the guidance image 310 shown in FIG.
Since each of the guidance display unit 511, the YES button 512, and the NO button 513 corresponds to the guidance display unit 311, the YES button 312, and the NO button 313 shown in FIG. 4, the description thereof will be omitted.

When the YES button 512 is touched, the vehicle 1 reaches the third target parking position P5, and the vehicle 1 is stopped within the vehicle range 260 by the travel control unit 137, the display control unit 138 is not shown. The parking support screen is displayed on the display panel 61. The illustrated parking support screen includes a third target parking position image P5a and a fourth target parking position image. The fourth target parking position indicates a target parking position determined by the target parking position determination unit 135 when the vehicle 1 reaches the third target parking position P5.
In this way, when the obstacle detection unit 134 does not detect the obstacle RT, the target parking position determination unit 135 repeatedly determines the target parking position, and the travel control unit 137 stops at the determined target parking position. The running of the vehicle 1 is controlled so as to do so.

In the present embodiment, as described with reference to FIGS. 2 to 6, the case where the route generation unit 136 generates a parking route for driving the vehicle 1 to the target parking position in the reverse direction has been described, but the present invention is limited to this. Not done. The route generation unit 136 may generate a parking route that causes the vehicle 1 to travel forward to the target parking position.

Further, in the present embodiment, as described with reference to FIGS. 2 to 6, the case where the vehicle 1 is parked in the passage PW corresponding to the rod of the flagpole is described, but the present invention is not limited to this. The vehicle 1 may be parked in a place where the space in the front-rear direction is longer than the length in the front-rear direction of the vehicle 1. For example, the vehicle 1 may be parked in a parking lot where two or more vehicles 1 can be parked side by side in the front-rear direction.

7 and 8 are flowcharts showing an example of processing of the parking support device 100.
First, as shown in FIG. 7, in step S101, the parking support device 100 determines whether or not an operation instructing the start of the parking support process has been accepted via the operation unit 50.
When the parking support device 100 determines that the operation for instructing the start of the parking support process is not accepted (step S101; NO), the process is in the standby state. When the parking support device 100 determines that the operation for instructing the start of the parking support process has been accepted (step S101; YES), the process proceeds to step S103.
Then, in step S103, the detection information acquisition unit 132 acquires the detection result of the detection unit 20. The detection information acquisition unit 132 acquires, for example, the captured image of the photographing unit 30 and the detection result of the sonar unit 40.

Next, in step S105, the position acquisition unit 131 acquires the position of the vehicle 1 as position information, and the map generation unit 133 records the obstacle RT around the vehicle 1 and the position of the vehicle 1 in the local coordinate system. Generate the map data.
Next, in step S107, the target parking position determination unit 135 determines the first target parking position P3 based on the detection result of the parkingable area and the map data.
Next, in step S109, the route generation unit 136 generates the parking route R1.
Next, in step S111, the display control unit 138 causes the display panel 61 to display a parking support screen including the first target parking position P3 and the parking route R1.
Next, in step S113, the travel control unit 137 executes travel control of the vehicle 1 and causes the vehicle 1 to travel to the first target parking position P3 along the parking path R1.
Next, in step S115, the detection information acquisition unit 132 acquires the detection result of the detection unit 20.
Next, in step S117, the travel control unit 137 determines whether or not the vehicle 1 has reached the first target parking position P3 based on the detection result of the detection unit 20.
When the travel control unit 137 determines that the vehicle 1 has not reached the first target parking position P3 (step S117; NO), the process returns to step S113. When the travel control unit 137 determines that the vehicle 1 has reached the first target parking position P3 (step S117; YES), the process proceeds to step S119 in FIG.

Then, as shown in FIG. 8, in step S119, the parking support device 100 determines whether or not the parking support process is set to be repeatedly executed.
In the present embodiment, when the parking support on switch is pressed and the execution of the parking support process is started, the setting is set to repeatedly execute the parking support process. In other words, in the present embodiment, when the first target parking position P3 is reached, the second target parking position P4 is determined as shown below, and the first target parking position is determined based on the instruction from the user. The vehicle is moved from P3 to the second target parking position P4.
When the parking support device 100 determines that the parking support process is not set to be repeatedly executed (step S119; NO), the process ends. When the parking support device 100 determines that the parking support process is set to be repeatedly executed (step S119; YES), the process proceeds to step S121.
Then, in step S121, the detection information acquisition unit 132 acquires the detection result of the detection unit 20.

Next, in step S123, the position acquisition unit 131 acquires the position of the vehicle 1 as position information, and the map generation unit 133 records the obstacle RT around the vehicle 1 and the position of the vehicle 1 in the local coordinate system. Generate the map data.
Next, in step S125, the obstacle detection unit 134 determines whether or not the obstacle RT in the traveling direction of the vehicle 1 is detected based on the map data generated by the map generation unit 133.
When the obstacle detection unit 134 determines that the obstacle RT has been detected (step S125; YES), the process proceeds to step S127.
Then, in step S127, the target parking position determination unit 135 determines the Nth target parking position based on the position of the obstacle RT. The number N indicates the number of times the parking support process is executed by the parking support device 100. Here, the initial value of the number of times N is "2". That is, the target parking position determination unit 135 determines the second target parking position P42 based on the position of the obstacle RT. After that, the process proceeds to step S131.
If the obstacle detection unit 134 determines that the obstacle RT has not been detected (step S125; NO), the process proceeds to step S129.
Then, in step S129, the target parking position determination unit 135 determines the Nth target parking position based on the detectable range of the sonar unit 40. The number N indicates the number of times the parking support process is executed by the parking support device 100. Here, the initial value of the number of times N is "2". That is, the target parking position determination unit 135 determines the second target parking position P41 based on the detectable range of the sonar unit 40.
Next, in step S131, the route generation unit 136 generates the parking route R2.
Next, in step S133, the display control unit 138 displays the parking support screen on the display panel 61. For example, when the obstacle detection unit 134 determines that the obstacle RT has been detected in step S125, the display control unit 138 displays the parking support screen 400 shown in FIG. 5 on the display panel 61. Further, for example, when the obstacle detection unit 134 determines that the obstacle RT has not been detected in step S125, the display control unit 138 displays the parking support screen 300 shown in FIG. 4 on the display panel 61.

Next, in step S135, the parking support device 100 determines whether or not the vehicle 1 has received the movement instruction from the first target parking position P3 to the second target parking position P41 or the second target parking position P42. For example, the parking support device 100 determines whether or not the touch of the YES button 312 of the parking support screen 300 or the YES button 412 of the parking support screen 400 is accepted.
When the parking support device 100 determines that the instruction to move the vehicle 1 from the first target parking position P3 to the second target parking position P4 has been received (step S135; YES), the process proceeds to step S139. When the parking support device 100 determines that the instruction to move the vehicle 1 from the first target parking position P3 to the second target parking position P4 is not accepted (step S135; NO), the process proceeds to step S137.
Then, in step S137, the parking support device 100 determines whether or not the end of the additional running from the first target parking position P3 has been accepted. In other words, the parking support device 100 determines whether or not the instruction indicating that the vehicle 1 is not moved from the first target parking position P3 to the second target parking position P4 has been received. For example, the parking support device 100 determines whether or not the touch of the NO button 313 of the parking support screen 300 or the NO button 413 of the parking support screen 400 is accepted.
When the parking support device 100 determines that the end of the additional running from the first target parking position P3 has been accepted (step S137; YES), the process ends. When the parking support device 100 determines that the end of the additional run from the first target parking position P3 is not accepted (step S137; NO), the process returns to step S135.

When the parking support device 100 determines that the instruction to move the vehicle 1 from the first target parking position P3 to the second target parking position P4 has been received (step S135; YES), in step S139, the travel control unit 137 The traveling control of the vehicle 1 is executed, and the vehicle 1 is driven from the first target parking position P3 to the second target parking position P4 along the parking route R2.
Next, in step S141, the detection information acquisition unit 132 acquires the detection result of the detection unit 20.
Next, in step S143, the travel control unit 137 determines whether or not the vehicle 1 has reached the Nth target parking position, that is, the second target parking position P4, based on the detection result of the detection unit 20.
When the travel control unit 137 determines that the vehicle 1 has not reached the Nth mark parking position (step S143; NO), the process returns to step S139. When the travel control unit 137 determines that the vehicle 1 has reached the Nth mark parking position (step S143; YES), the process proceeds to step S145.
Then, in step S145, the parking support device 100 increments the number of times N by one. After that, the process returns to step S119.

Step S103 corresponds to an example of the "first detection step". Step S107 corresponds to an example of the “first position determination step”. Step S113 corresponds to an example of the “travel control step”. Step S121 and step S125 correspond to an example of the "second detection step". Step S127 and step S129 correspond to an example of the "second position determination step".

As described above, the parking support device 100 of the present embodiment is a parking support device 100 that supports parking of the vehicle 1, and includes an obstacle detection unit 134 that detects an obstacle RT around the vehicle 1 and an obstacle. A target parking position determination unit 135 that determines the first target parking position P3 based on the detection result of the object detection unit 134, and a travel control unit 137 that causes the vehicle 1 to travel to the first target parking position P3 are provided. After the vehicle 1 starts traveling toward the first target parking position P3, the parking position determination unit 135 has a second target parking that is different from the first target parking position P3 based on the detection result of the obstacle detection unit 134. Determine the position P4.
Therefore, in order to determine the second target parking position P4 that is different from the first target parking position P3 based on the detection result of the obstacle detection unit 134, the vehicle should be parked further ahead of the first target parking position P3. If possible, the vehicle can be parked at the second target parking position P4, which is further advanced.

Further, the target parking position determination unit 135 determines a second target parking position P4 different from the first target parking position P3 when the vehicle stops at the first target parking position P3.
Therefore, since the second target parking position P4 is determined when the vehicle stops at the first target parking position P3, the second target parking position P4 can be determined at an appropriate timing. In other words, when the vehicle stops at the first target parking position P3, the second target parking position P4 is determined, so that the user can determine with a margin whether or not to proceed to the second target parking position P4.

Further, the target parking position determination unit 135 determines the second target parking position P4 based on the detectable range of the obstacle detection unit 134.
Therefore, since the second target parking position P4 is determined based on the detectable range of the obstacle detection unit 134, the second target parking position P4 can be appropriately determined when the obstacle RT is not detected.

Further, the target parking position determination unit 135 determines the second target parking position P4 based on the accuracy of the travel control of the travel control unit 137 when the obstacle detection unit 134 detects the obstacle RT.
Therefore, when the obstacle RT is detected, the second target parking position P4 is determined based on the accuracy of the travel control of the travel control unit 137, so that the second target parking position P4 can be appropriately determined.

Further, a touch sensor 63 for receiving an instruction from the user is provided, and the travel control unit 137 causes the vehicle 1 to travel to the second target parking position P4 when the touch sensor 63 receives an instruction from the user.
Therefore, when the instruction from the user is received, the vehicle 1 is driven to the second target parking position P4, so that the vehicle 1 can be driven to the second target parking position P4 at the timing desired by the user. Therefore, the convenience of the user can be improved.

Further, a display control unit 138 for displaying the first target parking position P3 and the second target parking position P4 is provided.
Therefore, since the first target parking position P3 and the second target parking position P4 are displayed, the user can confirm the first target parking position P3 and the second target parking position P4. Therefore, the convenience of the user can be improved.

Further, the parking support method of the present embodiment is a parking support method for supporting the parking of the vehicle, and is based on the detection results of the first detection step for detecting the obstacle RT around the vehicle 1 and the first detection step. Based on this, the first position determination step for determining the first target parking position P3, the travel control step for causing the vehicle 1 to travel to the first target parking position P3, and the travel of the vehicle 1 toward the first target parking position P3. After starting, the second target parking position P4 different from the first target parking position P3 is determined based on the second detection step for detecting the obstacle RT around the vehicle 1 and the detection result in the second detection step. The second position determination step is included.
Therefore, in order to determine the second target parking position P4 that is different from the first target parking position P3 based on the detection result in the second detection step, it is possible to park further ahead of the first target parking position. If possible, the vehicle can be parked at the second target parking position P4, which is further advanced.

The above-described embodiment is merely an example of the embodiment of the present invention, and can be arbitrarily modified and applied without departing from the gist of the present invention.
For example, FIG. 1 is a diagram showing components classified according to main processing contents in order to facilitate understanding of the present invention, and the components are further configured according to the processing contents. It can also be classified into elements. It can also be categorized so that one component performs more processing.
Further, the processing of each component may be executed by one hardware or may be executed by a plurality of hardware.
Further, the processing of each component may be realized by one program or may be realized by a plurality of programs.

Further, in FIG. 1, the parking support device 100 may integrally include at least one of the position detection unit 10 and the detection unit 20.

Further, in the present embodiment, the parking support device 100 includes a position acquisition unit 131, a detection information acquisition unit 132, a map generation unit 133, an obstacle detection unit 134, a target parking position determination unit 135, a route generation unit 136, and a travel control unit. It includes, but is not limited to, 137 and a display control unit 138. The server device that is communicably connected to the parking support device 100 via a network such as the Internet is a position acquisition unit 131, a detection information acquisition unit 132, a map generation unit 133, an obstacle detection unit 134, and a target parking position determination unit 135. , At least one of a route generation unit 136, a travel control unit 137, and a display control unit 138 may be provided. The server device may include, for example, a position acquisition unit 131, a map generation unit 133, an obstacle detection unit 134, a target parking position determination unit 135, and a route generation unit 136.

Further, in the present embodiment, the parking support process is repeatedly executed until the parking support off switch is pressed or the NO button on the parking support screen is touched while the parking support process is being executed, but the present invention is limited to this. Not done. For example, the maximum value of the number of times N for executing the parking support process may be preset. For example, the maximum value of the number of times N may be two times or three times or more.
Further, as described with reference to FIG. 5, when the obstacle detection unit 134 detects the obstacle RT around the vehicle 1, the target parking position determination unit 135 subsequently sets the target parking position to 1. You may decide only once. In this case, the convenience of the user can be improved.

Further, when the parking support method of the present invention is realized by using a computer, it is also possible to configure the control program to be executed by the computer in the form of a recording medium or a transmission medium for transmitting the control program. ..
As the recording medium, a magnetic or optical recording medium or a semiconductor memory device can be used. Specifically, it is a portable or fixed flexible disk, HDD, CD-ROM (Compact Disk Read Only Memory), DVD, Blu-ray (registered trademark) Disc, magneto-optical disk, flash memory, card-type recording medium, or the like. The recording medium of the formula is mentioned. Further, the recording medium may be a non-volatile storage device such as a RAM, a ROM, or an HDD included in the parking support device 100.
Further, the parking support device 100 may download the control program from the server device that is communicably connected to the parking support device 100 via the network.

Further, for example, the processing units in the flowcharts shown in FIGS. 7 and 8 are divided according to the main processing contents in order to facilitate understanding of the processing of the parking support device 100, and the processing units are divided. The present invention is not limited by the method or the name. The processing of the parking support device 100 may be divided into more processing units depending on the processing content. Further, the processing of the parking support device 100 may be divided so that one processing unit includes more processing.

1 Vehicle 3 In-vehicle device 5 Obstacle 10 Position detection unit 20 Detection unit 30 Imaging unit 40 Sonar unit 50 Operation unit 60 Display unit 61 Display panel 63 Touch sensor (reception unit)
70 Vehicle control unit 71 Steering device 73 Drive device 75 Braking device 77 Speed change device 100 Parking support device 110 Memory 130 Processor 131 Position acquisition unit 132 Detection information acquisition unit 133 Map generation unit 134 Obstacle detection unit 135 Target parking position determination unit 136 Route Generation unit 137 Travel control unit 138 Display control unit 220, 230, 240, 250, 260 Vehicle range 230a, 240a, 250a, 260a Vehicle range image 300, 400, 500 Parking support screen 310, 410, 510 Guidance image 311, 411, 511 Guidance display section 312, 412, 512 YES button 313, 413, 513 NO button BV bird's-eye view image P1 Initial position P2 Intermediate position P3 First target parking position (target parking position)
P3a 1st target parking position image P41, P42, P4 2nd target parking position (corrected target parking position)
P41a, P42a, P4a 2nd target parking position image P5 3rd target parking position image P5a 3rd target parking position image PW passage PWa passage image R11, R12, R1 Parking route R21, R22, R2, R3 Parking route R21a, R22a, R2a , R3a Parking route image RT Obstacle RTa Obstacle image

Claims (7)

It is a parking support device that supports the parking of vehicles.
An obstacle detection unit that detects obstacles around the vehicle, and
A position-fixing unit that determines a target parking position based on the detection result of the obstacle detection unit,
A travel control unit that drives the vehicle to the target parking position,
Equipped with
After the vehicle starts traveling toward the target parking position, the position-determining unit determines a corrected target parking position different from the target parking position based on the detection result of the obstacle detection unit. Parking support device. The position-determining unit determines the corrected target parking position, which is different from the target parking position, when the vehicle stops at the target parking position.
The parking support device according to claim 1. The position-fixing unit determines the corrected target parking position based on the detectable range of the obstacle detection unit.
The parking support device according to claim 1 or 2. When the obstacle detecting unit detects the obstacle, the position-fixing unit determines the corrected target parking position based on the accuracy of the traveling control of the traveling control unit.
The parking support device according to claim 3. Equipped with a reception section that accepts instructions from users
The travel control unit causes the vehicle to travel to the corrected target parking position when the reception unit receives an instruction from the user.
The parking support device according to any one of claims 1 to 4. A display control unit for displaying the target parking position and the corrected target parking position is provided.
The parking support device according to any one of claims 1 to 5. It is a parking support method that supports the parking of vehicles.
The first detection step of detecting an obstacle around the vehicle and
Based on the detection result in the first detection step, the first position determination step for determining the target parking position and the first position determination step.
A travel control step for driving the vehicle to the target parking position,
After starting the traveling of the vehicle toward the target parking position, a second detection step of detecting an obstacle around the vehicle and a second detection step.
A second position determination step for determining a corrected target parking position, which is different from the target parking position, based on the detection result in the second detection step.
Parking assistance methods, including.

Images