JP2021189575A - Parking assist device, and control method for parking assist device - Google Patents

Abstract

To further appropriately set a parking route.SOLUTION: A parking assist device 100 comprises: a position detection section 110 for detecting a present position of a vehicle 1; an obstacle detection section 112 for detecting an obstacle by the side of the vehicle 1 in accordance with information from a sonar provided in the vehicle 1; a parking area detection section 114 for detecting a parking area T by detecting a partitioning line TA on the basis of a captured image resulting from imaging the periphery of the vehicle 1; a virtual obstacle setting section 116 for setting a virtual obstacle C at a position adjacent to the parking area T; a virtual obstacle moving section 117 for moving the virtual obstacle C in parallel in a passage direction F of the vehicle 1 for a moving amount M corresponding to a separation distance L between the parking area T and the vehicle 1 in a case where the vehicle 1 passes the parking area T; and a parking route calculation section 118 for calculating a parking route for the vehicle 1 to move from the present position and to be parked in the parking area T on the basis of the present position of the vehicle and positions of the obstacle detected by the sonar, the virtual obstacle C and the parking area T.SELECTED DRAWING: Figure 1

Description

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

Patent Document 1 is a technique related to parking support.
In the column of the subject of the abstract of Patent Document 1, it is stated that "it is possible to safely provide parking assistance without affecting the course of other vehicles."
In the column of the means for solving the abstract of Patent Document 1, "The parking support device of the present invention is an external detection sensor input processing unit that generates peripheral information based on sensor input from an external detection sensor that detects the outside of the vehicle. , A parking position setting unit that sets the parking position, a virtual obstacle generation unit that generates virtual obstacle information based on the parking position set by the parking position setting unit, and peripheral information and virtual obstacle information. It is provided with a parking route calculation unit that generates a parking route from the current position of the vehicle to the parking position based on the above. "

Japanese Unexamined Patent Publication No. 2019-182154

In Patent Document 1, there is room for improvement in the setting of virtual obstacles in order to obtain a more appropriate parking route.

An object of the present invention is to provide a parking support device capable of obtaining a more appropriate parking route, and a control method for the parking support device.

One aspect of the present invention includes a position detection unit that detects the current position of the vehicle, an obstacle detection unit that detects an obstacle on the side of the vehicle based on information from a sonar provided on the vehicle, and an obstacle detection unit of the vehicle. A parking lot detection unit that detects a parking lot by detecting a lane marking based on a photographed image of the surrounding area, a virtual obstacle setting unit that sets a virtual obstacle at a position adjacent to the parking lot, and the vehicle. When the vehicle has passed through the parking lot, a virtual obstacle moving unit that moves the virtual obstacle in parallel in the passing direction of the vehicle with a movement amount corresponding to the distance between the parking lot and the vehicle. Parking where the vehicle moves from its current position and parks in the parking lot based on the current position of the vehicle and the respective positions of the obstacle detected by the sonar, the virtual obstacle, and the parking lot. It is a parking support device characterized by comprising a parking route calculation unit for calculating a route.

According to the present invention, a more appropriate parking route can be obtained.

It is a figure which shows the structure of the vehicle which is equipped with the parking support device which concerns on embodiment of this invention. It is a figure which shows an example of the installation mode of a side sonar and a camera. It is a figure which shows the parking lot. It is a figure which shows the movement of the position of a virtual obstacle based on the position of the detection range of a side sonar. It is a figure which shows the detection example of the parkingable space based on the detection result of the obstacle by the side sonar. It is explanatory drawing of the separation distance. It is explanatory drawing of the detection timing of a parking lot. It is a flowchart of parking support processing. It is a figure which shows the difference of the parking route by the movement of a virtual obstacle. It is a figure which shows the parking lot which concerns on the modification of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing a configuration of a vehicle 1 equipped with a parking support device 100 according to the present embodiment.
The vehicle 1 includes a peripheral detection sensor unit 10, a vehicle sensor unit 20, a vehicle control device 30, and a parking support device 100, which can perform data communication through an in-vehicle network 5 such as a CAN (Controller Area Network) bus. It is connected to the.

The peripheral detection sensor unit 10 includes various sensors for detecting information around the vehicle 1, and outputs the detection result (output) to the parking support device 100. Hereinafter, the peripheral information is referred to as "peripheral information".
Peripheral information includes information on objects existing around the vehicle 1. The object is, for example, an obstacle, a lane marking line for dividing the parking lot of the vehicle 1, or the like. Obstacles are various objects that hinder the running of the vehicle 1. Typical examples of obstacles include structures such as pillars and walls, fire hydrants, other parked and running vehicles, and passersby.

The peripheral detection sensor unit 10 of the present embodiment includes a side sonar 10A and a camera 10B.
The side sonar 10A is a distance measuring sensor that detects an obstacle in the vicinity by sound waves and measures the distance between the obstacle and the vehicle 1.
As shown in FIG. 2, the side sonar 10A is arranged on the left side and the right side of the vehicle 1, respectively. In the side sonar 10A, the central angle of the detection range R forming a fan shape is narrower than that of a normal sonar, so that the detection range R has a substantially beam shape. As a result, the side sonar 10A has high directivity toward the side of the vehicle 1 and detects obstacles with high accuracy from a relatively long distance (for example, 5 meters) from the vehicle 1. Further, as the vehicle 1 travels (forward travel in the example of FIG. 2), obstacles are detected with high accuracy in the region W through which the detection range R of the side sonar 10A of the vehicle 1 has passed.

The camera 10B is a photographing means for photographing the parking lot T (FIG. 3).
As shown in FIG. 2, the vehicle 1 of the present embodiment is provided with cameras 10B on the front side, the left side side, the right side side, and the rear side, respectively. All directions centered on the vehicle 1 are photographed by these cameras 10B.
The camera 10B may be used to shoot in all directions with one camera. Further, the shooting range by the camera 10B and the number of cameras 10B can be appropriately changed.

The vehicle sensor unit 20 includes various sensors for detecting the traveling state of the vehicle 1 and various information required for autonomous navigation (dead reckoning). Such a sensor is a sensor mounted on the vehicle 1, for example, a gyro sensor, an acceleration sensor, a vehicle speed sensor, a steering angle sensor for detecting the steering angle of the vehicle 1, and the like.

The vehicle control device 30 autonomously moves (automatically) the vehicle 1 based on the parking route to be described later calculated by the parking support device 100 by controlling the steering device, the drive device, and the braking control device included in the vehicle 1. It is a device to run). The vehicle control device 30 includes a computer (for example, an ECU (Electronic Control Unit)) that executes such control.
The steering device is a device including an actuator for steering the steering wheel of the vehicle 1.
The drive device is a device including an actuator that adjusts the drive force of the drive wheels of the vehicle 1. When the power source of the vehicle 1 is an engine, the actuator of the drive device is a throttle actuator. When the power source is a motor, the actuator of the drive device is the motor of the power source.
The braking control device includes an actuator that controls the braking force applied to the wheels of the vehicle 1 by controlling the braking system provided in the vehicle 1.

The parking support device 100 is a device that automatically drives the vehicle 1 to the parking section T to support the parking of the vehicle 1.
The parking support device 100 includes a processor such as a CPU (Central Processing Unit) and an MPU (Microtechnology Unit), a memory device (also referred to as a main storage device) such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an HDD. Storage devices (also called auxiliary storage devices) such as (Hard Disk Drive) and SSD (Solid State Drive), interface circuits for connecting sensors and peripheral devices, and other in-vehicle devices via the in-vehicle network 5. It is equipped with a computer equipped with an in-vehicle network communication circuit that communicates with. As such a computer, an ECU (Electronic Control Unit) is used.
In the parking support device 100, various functional configurations shown in FIG. 1 are realized by the processor executing a computer program stored in the memory device or the storage device.

That is, the parking support device 100 has a position detection unit 110, a peripheral information acquisition unit 111, an obstacle detection unit 112, a map generation unit 113, a parking section detection unit 114, and a parking frame setting unit 115 as functional configurations. A virtual obstacle setting unit 116, a virtual obstacle moving unit 117, a parking route calculation unit 118, and an automatic traveling control unit 119 are provided.

The position detection unit 110 detects the current position (self-position) of the vehicle 1 based on the detection result (output) of the vehicle sensor unit 20 by using a known or well-known dead reckoning method.

The peripheral information acquisition unit 111 acquires peripheral information based on the detection result (output) of the peripheral detection sensor unit 10. As described above, the detection range R of the side sonar 10A has a fan shape as shown in FIG. The side sonar 10A has a predetermined angle (however, 0 <predetermined angle <fan-shaped central angle) about the main axis RK, which is the center of the fan shape (corresponding to the direction of detection) in the detection range R. The configuration is such that the most reliable detection result can be obtained in the range.

The obstacle detection unit 112 detects obstacles around the vehicle 1 based on the peripheral information.
More specifically, the obstacle detection unit 112 detects surrounding obstacles based on the detection result of the side sonar 10A, and detects the position of the obstacle with respect to the vehicle 1.
Further, the obstacle detection unit 112 uses information based on the detection result within the range of the predetermined angle, which has the highest reliability in the detection range R of the side sonar 10A, among the peripheral information, and the obstacle detection unit 112 uses the information based on the detection result, and the obstacle around the vehicle 1. Detect an object.

The map generation unit 113 generates map data based on the detection result of the obstacle detection unit 112. The map data is data in which the position of an obstacle is recorded in the local spatial coordinate system with the current position of the vehicle 1 as the origin at an appropriate timing. The map data makes it possible to identify the distribution of obstacles around the vehicle 1.

The parking lot detection unit 114 detects the parking lot T in which the vehicle 1 is parked based on the captured image which is one of the peripheral information.

FIG. 3 is a diagram showing a parking lot T to be detected.
As shown in FIG. 3, the parking lot T is an area for parking divided by the parking line TA drawn on the ground, and the parking lot TA is also referred to as a parking frame line, a white line, or the like.
The parking lot detection unit 114 detects the parking lot T by recognizing the lane marking TA by recognizing the image taken by the camera 10B. Further, the parking section detection unit 114 converts the position of the parking section T in the captured image into the position of the local spatial coordinate system of the map data by projecting the captured image from the two-dimensional coordinate system to the local spatial coordinate system of the map data. do. This projective transformation can be performed using a known or well-known technique as appropriate.

As shown in FIG. 3, the parking frame setting unit 115 sets a rectangular parking frame D in the parking area T based on the parking area T detected by the parking area detection unit 114. The parking frame D is a frame that defines a range in which the vehicle 1 is accommodated when parked in the parking zone T.
In the present embodiment, the parking frame setting unit 115 sets the parking frame D so that the sides facing the target section line TA are substantially parallel to each section line TA of the parking section T, as shown in FIG. do.

The virtual obstacle setting unit 116 sets the virtual obstacle C on the far side of the parking frame D when viewed from the front of the parking frame D. The position in front of the parking frame D is typically the position of the vehicle 1 moving forward toward the parking frame D in front, as shown in FIG.
The virtual obstacle C is an obstacle that is virtually set separately from the obstacle detected based on the detection result of the peripheral detection sensor unit 10.
In the present embodiment, the virtual obstacle setting unit 116 sets the virtual obstacle C at a position (initial position) in contact with the farthest side of the parking frame D when viewed from the front of the parking frame D. In the present embodiment, the distant side is the distant side of the vertical sides extending in the front-rear direction of the parked vehicle 1, and hereinafter, this side is referred to as the farthest side Da.

The size and shape of the virtual obstacle C are the size of the parking frame D and the obstacles (walls, other vehicles 3 (FIG. 3), etc.) that are supposed to exist next to the parking frame D. It can be set based on the size and so on. In this case, as shown in FIG. 3, the virtual obstacle C is set to have a shape including at least a straight portion Ca extending along the farthest side Da of the parking frame D.
In the present embodiment, the virtual obstacle C has a rectangular shape indicating another vehicle 3 that can be parked next to the parking zone T, and the size of the virtual obstacle C is set based on the size of the other vehicle 3. The straight line portion Ca is arranged side by side on the parking frame D so as to be parallel to the farthest side Da of the parking frame D.

The virtual obstacle moving unit 117 moves the position of the virtual obstacle C set by the virtual obstacle setting unit 116 based on the position of the detection range R of the side sonar 10A at the start of automatic parking.

FIG. 4 is a diagram showing the movement of the position of the virtual obstacle C based on the position of the detection range R of the side sonar 10A.
As shown in FIG. 4, in the virtual obstacle moving unit 117, when the vehicle 1 passes through the parking frame D, the detection range R of the side sonar 10A is from the farthest side Da when viewed from the position in front of the parking frame D. When the vehicle is located far away, the virtual obstacle C is moved in the passing direction F of the vehicle 1 with a movement amount M corresponding to the distance L between the position of the detection range R of the side sonar 10A and the farthest side Da. The passing direction F is the traveling direction when the vehicle 1 passes through the parking frame D.
Hereinafter, the position of the detection range R of the side sonar 10A is referred to as "sonar detection position RP". As the sonar detection position RP, the position of the main axis RK (FIG. 2) of the beam-shaped exploration wave of the side sonar 10A (generally the same as the arrangement position of the side sonar 10A in the vehicle 1) is used.

Further, in the present embodiment, as shown in FIG. 4, the virtual obstacle moving portion 117 has a passing direction so as to maintain parallelism between the straight portion Ca of the virtual obstacle C and the farthest side Da of the parking frame D. The virtual obstacle C is moved (that is, translated) to F.

More specifically, in the configuration in which the vehicle 1 detects the parkable space E in which the vehicle 1 can park based on the detection result of the obstacle by the side sonar 10A, two points indicating the obstacle are shown, for example, as shown in FIG. Even if the parkable space E is detected between the groups G, the posture (front-back direction) of the vehicle 1 in the parkable space E when parked is not determined. Further, when the obstacle on the far side of the parkable space E is the other vehicle 3, the posture of the other vehicle 3 is not uniquely determined as shown in FIG.

On the other hand, in the present embodiment, since the parking lot T is detected as the parkable space E based on the photographed image, the posture of the vehicle 1 in the parking lot T at the time of parking is determined by the extending direction of the lane marking TA. Can be identified. Further, when the other vehicle 3 exists as an obstacle next to the parking lot T, the posture of the other vehicle 3 generally follows the extending direction of the lane marking TA of the parking lot T. That is, the posture of the other vehicle 3 that may exist next to the parking lot T can be specified by the detection of the parking lot T, and the virtual obstacle is matched to the posture of the other vehicle 3 by the parallel movement of the virtual obstacle C. The object C can be moved with respect to the parking lot T.

Further, in the present embodiment, the movement amount M of the virtual obstacle C is set to be the same as the separation distance L or equal to or less than the separation distance L.
As shown in FIG. 6, the following distance is used for the separation distance L in consideration of the case where the vehicle 1 is in an oblique posture with respect to the parking frame D.
That is, as shown in FIG. 6, with each of the front end Da1 and the rear end Da2 of the farthest side Da of the parking frame D as the base points, pull toward the main axis RK of the sonar detection position RP perpendicular to the farthest side Da. The shorter length of the obtained perpendicular lines Q1 and Q2 is used for the separation distance L.
The front end Da1 of the farthest side Da is the end point on the side closer to the vehicle 1, and the rear end Da2 is the end point on the side farther from the vehicle 1.

As shown in the diagonal stop A of FIG. 6, when the vehicle 1 is stopped in a posture in which the front end side is farther from the parking frame D than the rear end side, the length of the vertical line Q1 extending from the front end Da1 of the farthest side Da. Is used for the separation distance L.
Further, as shown in the diagonal stop B of FIG. 6, when the vehicle 1 is stopped in a posture in which the front end side is closer to the parking frame D than the rear end side, a vertical line extending from the rear end Da 2 of the farthest side Da. The length of Q2 is used for the separation distance L.
As a result, the movement amount M of the virtual obstacle C is limited to an amount that the straight line portion Ca of the virtual obstacle C does not enter the undetected range by the side sonar 10A.
As shown in FIG. 4 above, when the posture of the vehicle 1 is perpendicular to the parking frame D, the lengths of the perpendicular lines Q1 and Q2 are equal, so which length is used for the separation distance L. May be good.

The parking route calculation unit 118 is based on the map data (that is, the distribution of obstacles detected based on the surrounding information), the virtual obstacle C, and the parking frame D set by the parking frame setting unit 115. Calculate and calculate the parking route.
The parking route of the present embodiment is from the current position of the vehicle 1 to the parking lot T so that the vehicle 1 parks backward in the parking frame D of the parking lot T without colliding with the surrounding obstacles and the virtual obstacle C. This is a route for moving the vehicle 1.
Backward parking means that the vehicle 1 is stored in the parking lot T by reverse movement.

The automatic driving control unit 119 generates control information for advancing the vehicle 1 by automatic driving based on the parking route, and outputs the control information to the vehicle control device 30.
When the vehicle control device 30 executes control based on the control information, the vehicle 1 automatically travels toward the parking lot T and automatically enters the parking lot.

Next, the operation of this embodiment will be described.

While the occupant is driving the vehicle 1 and moving in the parking lot, the obstacle detection unit 112 continues the surrounding obstacles (for example, another vehicle 3 (FIG. 3)) based on the peripheral information in the parking support device 100. The map generation unit 113 sequentially records the map data of the position of the obstacle detected by the obstacle detection unit 112. Further, the parking lot detection unit 114 continuously detects the parking lot T existing in front of or to the side of the vehicle 1 based on the image recognition result of the captured image.

The parking lot detection unit 114 detects the parking lot T based on the captured image of the camera 10B, so that the timing before the sonar detection position RP passes through the parking lot T or the sonar detection position as shown in FIG. Even after the RP has passed through the parking lot T, the parking lot T is promptly set at a timing before the space having a size corresponding to the parking lot T is recorded in the map data based on the detection result of the side sonar 10A. Is detected in.

After that, the occupant stops the vehicle 1 and operates an HMI (Human Machine Interface) (not shown) to instruct the parking support device 100 to automatically park.
When the instruction for automatic parking is input, the parking support device 100 starts an automatic parking process for automatically driving the vehicle 1 into the parking section T.

FIG. 8 is a flowchart of the automatic parking process.
First, the parking frame setting unit 115 sets the parking frame D for the parking section T (step Sa1).
Next, the virtual obstacle setting unit 116 sets the virtual obstacle C at the initial position where the straight line portion Ca touches the farthest side Da of the parking frame D (step Sa2).
Next, the virtual obstacle moving unit 117 determines whether or not the sonar detection position RP has passed through the parking frame D based on the current position of the vehicle 1 and the position of the parking frame D, in other words, the vehicle 1. It is determined whether or not the sonar detection position RP is located farther than the farthest side Da of the parking frame D (step Sa3).

When the sonar detection position RP has not passed through the parking frame D (step Sa3: No), the sonar detection position RP is located in front of the farthest side Da, and the side sonar 10A is still on the far side from the parking frame D. It has not been detected yet. In this case, the position of the virtual obstacle C is fixed at the initial position.

On the other hand, when the sonar detection position RP has passed through the parking frame D (step Sa3: Yes), the virtual obstacle moving unit 117 has the separation distance L based on the current position of the vehicle 1 and the position of the parking frame D. Is calculated, and the virtual obstacle C is translated by the movement amount M corresponding to the separation distance L. (Step Sa4).

Then, the parking route calculation unit 118 determines the obstacle and the virtual obstacle based on the current position of the vehicle 1 and the respective positions of the obstacle, the virtual obstacle, and the parking section T (parking frame D) in the map data. The parking route for moving the vehicle 1 from the current position to the parking lot T without colliding with the parking lot T is calculated and calculated (step Sa5).
Then, the automatic driving control unit 119 generates control information based on the parking route in order to automatically drive the vehicle 1 to the parking section T along the parking route, and outputs the control information to the vehicle control device 30. (Step Sa6). As a result, under the control of the vehicle control device 30, the vehicle 1 starts automatic traveling and is parked in the parking lot T.

By this process, when the sonar detection position RP has not passed through the parking frame D (step Sa3: No), the virtual obstacle C is adjacent to the parking frame D as shown in the “initial position” of FIG. The parking route is calculated so as to be located and not to collide with the virtual obstacle C.
On the other hand, when the sonar detection position RP passes through the parking frame D (step Sa3: Yes), the virtual obstacle C moves in parallel according to the separation distance L, as shown in “after movement” in FIG. As a result, an area through which the vehicle 1 can pass is created between the parking frame D and the virtual obstacle C. Then, the parking route is calculated based on the area generated between the parking frame D and the virtual obstacle C and the detection result by the side sonar 10A of the obstacle in the area.
As a result, it becomes possible to calculate a parking route with a smaller number of turns, as compared with the case where the virtual obstacle C is not moved. In addition, "turning back" refers to repeated driving of forward movement and reverse movement for adjusting the approach angle of the vehicle 1 to the parking lot T, and is sometimes referred to as switchback.

According to this embodiment, the following effects are obtained.

The parking support device 100 of the present embodiment has a parking lot detection unit 114 that detects a parking lot T by detecting a parking lot TA based on a photographed image taken around the vehicle 1, and a parking lot that parks a virtual obstacle C. The virtual obstacle setting unit 116 set at a position adjacent to the parking frame D set in T, and when the vehicle 1 passes through the parking zone T, the parking zone T and the vehicle 1 (more accurately, sonar detection). The virtual obstacle moving unit 117 that moves the virtual obstacle C in parallel in the passing direction F of the vehicle 1 with the movement amount M according to the separation distance L from the position RP), the current position of the vehicle 1, and the obstacle. , A parking route calculation unit 118 that generates a parking route in which the vehicle 1 moves from the current position and parks in the parking zone T based on the respective positions of the virtual obstacle C and the parking frame D in the parking zone T. And.

According to this configuration, when the sonar detection position RP is located on the far side of the parking frame D when viewed from the front of the parking frame D in the parking lot T, the virtual obstacle C moves to the position corresponding to the sonar detection position RP. Therefore, an area that can be used for the parking route is provided between the parking frame D and the virtual obstacle C. As a result, the area available for the parking route is increased, and a more appropriate parking route can be obtained.

In addition to this, the detection result of the side sonar 10A is such that the parking section T, which is the parkable space E in which the vehicle 1 can be parked, is detected based on the captured image of the camera 10B, not the detection result of the side sonar 10A. The parking lot T can be detected earlier than the configuration in which the parkable space E is detected based on the above.
Further, since the configuration is such that the parking lot T is detected, the posture (front-back direction) of the other vehicle 3 as an obstacle that may exist next to the parking lot T can be inferred based on the direction of the parking lot T. be.
Therefore, simply by translating the virtual obstacle C, the posture of the other vehicle 3 next to the parking zone T is not specified based on the detection result of the side sonar 10A, and without waiting for the detection result. The virtual obstacle C can be quickly moved to a position corresponding to the posture of the other vehicle 3.
As a result, these can be specified at an earlier timing than the configuration in which the parking space E is detected and the posture and shape of the obstacle existing next to the parking section T are specified using the detection result of the side sonar 10A. Further, by identifying these at an early stage, it is possible to stop the vehicle 1 closer to the parking lot T and calculate a shorter parking route.

In the parking support device 100 of the present embodiment, the virtual obstacle C is set to a size based on another vehicle 3 that can be parked next to the parking section T, and is set in parallel with the parking section T.
This makes it possible to appropriately calculate a parking route in a parking lot or the like where a plurality of other vehicles 3 are parked in parallel.

In the parking support device 100 of the present embodiment, the obstacle detection unit 112 has a range of a predetermined angle centered on the main axis RK of the fan-shaped detection range R among the peripheral information obtained from the side sonar 10A provided in the vehicle 1. Information based on the detection result within (however, the predetermined angle <the central angle of the fan-shaped detection range R) is used.
This makes it possible to detect obstacles with high reliability.

It should be noted that the above-described embodiment is merely an example of one aspect of the present invention, and can be arbitrarily modified and applied without departing from the gist of the present invention.

In the above-described embodiment, the parking frame setting unit 115 sets the parking frame D in the parking section T. However, the parking frame setting unit 115 may set the contour of the parking section T as the parking frame D.

In the above-described embodiment, the case where the vehicle 1 is parked in the parking lot T arranged in parallel with the other vehicle 3 or the other parking lot T is illustrated. However, as shown in FIG. 10, the present invention can also be applied to the case where the vehicle 1 is parked in the parking lot T arranged in series with the other vehicle 3 or the other parking lot T (so-called parallel parking). can.
In this case, as shown in FIG. 10, the initial position of the virtual obstacle C is a position adjacent to the parking frame D in the series direction. Further, the farthest side Da of the parking frame D is not the long side extending in the front-rear direction of the vehicle 1, but the shortest side extending in the vehicle width direction of the vehicle 1 which is the farthest side when viewed from the front of the parking section T. be.

In the above-described embodiment, the functional block shown in FIG. 1 is a schematic diagram showing the components of the vehicle 1 and the parking support device 100 classified according to the main processing contents in order to facilitate the understanding of the present invention. Yes, these components can be further classified into more components according to the processing content. It can also be categorized so that one component performs more processing.

Further, the processing of each component of the parking support device 100 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.

1 Vehicle 10 Peripheral detection sensor unit 10A Side sonar 10B Camera 100 Parking support device 110 Position detection unit 111 Peripheral information acquisition unit 112 Obstacle detection unit 114 Parking lot detection unit 115 Parking frame setting unit 116 Virtual obstacle setting unit 117 Virtual obstacle Moving unit 118 Parking route calculation unit 119 Automatic driving control unit C Virtual obstacle D Parking frame Da Farthest side F Passing direction L Separation distance M Movement amount R Detection range RK Main axis RP Sonar detection position T Parking division TA division line

Claims (4)

A position detector that detects the current position of the vehicle, and
An obstacle detection unit that detects obstacles on the side of the vehicle based on information from the sonar provided on the vehicle, and
A parking lot detection unit that detects a parking lot by detecting a lot line based on a photographed image of the surroundings of the vehicle, and a parking lot detection unit.
A virtual obstacle setting unit that sets a virtual obstacle at a position adjacent to the parking lot,
When the vehicle has passed through the parking lot, a virtual obstacle moving unit that translates the virtual obstacle in the passing direction of the vehicle with a movement amount corresponding to the distance between the parking lot and the vehicle. When,
Parking where the vehicle moves from the current position and parks in the parking lot based on the current position of the vehicle and the respective positions of the obstacle detected by the sonar, the virtual obstacle, and the parking lot. Parking route calculation unit that calculates the route, and
A parking support device characterized by being equipped with. The virtual obstacle is
Set to a size based on other vehicles that can be parked next to the parking lot,
The parking support device according to claim 1, wherein the parking lot is set in parallel with the parking lot. The obstacle detection unit is
Among the information from the sonar provided in the vehicle, the information detected within a predetermined range is used.
The parking support device according to claim 1 or 2. A position detector that detects the current position of the vehicle, and
In a control method of a parking support device including an obstacle detection unit that detects an obstacle on the side of the vehicle based on information from a sonar provided on the vehicle.
The first step of detecting a parking lot by detecting a lane marking line based on a photographed image taken around the vehicle, and
The second step of setting the virtual obstacle in a position adjacent to the parking lot,
When the vehicle has passed through the parking lot, the third step of moving the virtual obstacle in parallel in the passing direction of the vehicle by the amount of movement according to the distance between the parking lot and the vehicle and the above. Based on the current position of the vehicle, the obstacle detected by the sonar, the virtual obstacle, and the respective positions of the parking lot, the parking route for the vehicle to move from the current position and park in the parking lot is calculated. 4th step and
A method of controlling a parking support device, which comprises.

Images