JP2023017463A - Parking support device - Google Patents

Abstract

To provide a parking support device, which in parking an own vehicle in a parking space utilizing a parking support function, can detect a parking space in which the own vehicle can be parked and guide the vehicle to the space, even when the device cannot recognize a parking frame.SOLUTION: A parking support device 1 comprises an operation support control unit 11. The operation support control unit 11 obtains environment information about a circumference of an own vehicle M from sensors 21, 26-29, determines a parking space width Wp between parked vehicles Pv parked in a parking lot on the basis of the environment information, and compares the parking space width Wp with a required parking width Ws of a virtual parking frame 41 that is required in parking the own vehicle M, which when the parking space width Wp is larger than the required parking width Ws, sets the virtual parking frame 41 in the parking space and guides the own vehicle M to the virtual parking frame 41.SELECTED DRAWING: Figure 1

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking assist system capable of smoothly parking a vehicle even in a parking lot where a parking frame drawn on the road surface cannot be recognized.

2. Description of the Related Art Conventionally, a parking assist device is known that assists a driver in parking his or her own vehicle in a parking frame that defines a parking space set in a parking lot, thereby reducing the burden on the driver. In this type of parking assistance device, when the driver operates the vehicle to run in the parking lot, the control unit detects a candidate for a vacant parking space, and selects the candidate parking space. display on the monitor. The driver selects a desired parking space from the displayed parking space candidates.

Then, the control unit sets a parking guide route for parking the own vehicle in the parking slot selected by the driver. Then, the control unit guides the own vehicle to the parking frame along the parking guide route. Alternatively, the driver operates the own vehicle to park it in the parking frame along the parking guide route displayed on the monitor.

In the above-described conventional parking assist system, when parking the own vehicle in a parking frame, first, a parking frame in which the vehicle can be parked is detected. Therefore, when the parking space drawn on the road surface cannot be recognized because the road surface of the parking lot is covered with snow or mud remaining after flooding, the parking assist system guides the vehicle to the parking space. It becomes difficult to construct a taxiway.

A driver needs parking assistance from a parking assistance device more in a bad environment in which it is difficult to recognize a parking frame than in a favorable environment. For example, in Patent Document 1 (Japanese Patent Application Laid-Open No. 2021-3926), when the parking frame in the parking lot cannot be recognized due to snow accumulation, first, information on a pair of ruts that is judged to be the travel trajectory carved on the snow accumulation. is obtained, and the position where the rut ends in the direction of the parking space is set as the stop position of the tires of the own vehicle during parking. A technique is disclosed for setting a target parking guideway for guiding the own vehicle along a pair of ruts leading to the stop position.

Japanese Patent Application Laid-Open No. 2021-3926

However, in the technology disclosed in Patent Document 1, when the parking assist device cannot detect a pair of ruts carved on the snow, even if the driver visually recognizes an empty parking space, parking assist control is performed. will not work and will cause discomfort to the driver.

In other words, when a driver tries to park his/her own vehicle in a parking lot of a store, the driver should park in a parking space as close to the store as possible, especially in a situation where the parking lot is in a bad environment due to snow or mud. try to. Therefore, a vacant parking space near the store has multiple vehicles entering and exiting, and naturally, multiple types of ruts are carved.

In such an environment, when the driver attempts to park his vehicle in a parking space using the parking assistance function, the parking assistance device selects a parking space with a pair of ruts far from the store. , causing inconvenience to passengers including the driver.

In the present invention, when trying to park the own vehicle in the parking space using the parking support function, the parking frame cannot be recognized, and moreover, a plurality of types of ruts entering and exiting the vacant parking space are carved. To provide a parking assist device capable of detecting a parking space that can be parked even if there are no ruts left at all.

The present invention provides a parking assistance device for guiding a vehicle to a parking space in a parking lot, wherein an environment information acquisition unit acquires environment information around the vehicle, and stores a virtual parking frame necessary for parking the vehicle. a storage unit, a parking interval calculation unit that calculates the width of the parking space based on the environment information acquired by the environment information acquisition unit, and the width of the parking space calculated by the parking interval calculation unit and stored in the storage unit a parking width comparison unit that compares the width of the virtual parking frame with the width of the virtual parking frame, and if the parking width comparison unit determines that the width of the parking space is wider than the width of the virtual parking space, the parking space is filled with a virtual parking frame setting unit that sets the virtual parking frame; a parking space determination unit that checks based on the environment information acquired by the environment information acquisition unit; and when the parking space determination unit determines that the target faces the three sides, the virtual parking frame is selected. , a parking space setting unit that sets a parking space in which the own vehicle can be parked; and a parking support unit that guides the own vehicle to the parking space set by the parking space setting unit. .

According to the present invention, when trying to guide the own vehicle to a parking space in a parking lot, first, the width of the parking space obtained based on the environment information acquired by the environment information acquiring unit, and the previously stored width of the parking space, When it is determined that the width of the parking space is wider than the width of the virtual parking space by comparing the width of the virtual parking space required for parking the own vehicle, the virtual parking space is set in the parking space, and the virtual parking space is set. It is checked whether or not a target faces three sides of the frame excluding the side on the own vehicle side. Since it is set as a parking space and the vehicle is guided to this parking space, the virtual parking frame cannot be recognized, and moreover, multiple types of ruts entering and exiting the empty parking space are carved. A possible parking space can be detected and guided even if there are no ruts or ruts at all.

Schematic diagram of parking assist device Flowchart showing parking assist control routine Flowchart showing parking assistance mode execution subroutine Flowchart showing bad environment parking assistance subroutine (Part 1) Flowchart showing bad environment parking assistance subroutine (part 2) Explanatory drawing when the width between the virtual parking frame of the own vehicle and the adjacent parked vehicle is the same Explanatory drawing when the width between adjacent parked vehicles is wider than the virtual parking frame of the own vehicle Explanatory drawing when the width between adjacent parked vehicles is narrower than the virtual parking frame of the own vehicle A bird's-eye view showing the search status of available parking spaces Explanatory diagram showing a state in which parking spaces are displayed on the HMI monitor An overhead view showing available parking spaces for the entire parking lot A bird's-eye view showing the state in which the virtual parking frame is estimated to be a parking space. A bird's-eye view showing a state in which two opposing sides of a virtual parking frame and a rut intersect. A bird's-eye view showing a state in which two adjacent sides of a virtual parking frame and a rut intersect

An embodiment of the present invention will be described below based on the drawings. A parking assist system 1 shown in FIG. 1 is mounted on a vehicle M (see FIGS. 7 and 9). This parking assistance device 1 includes a driving assistance control unit 11 . The driving support control unit 11 is composed of a CPU, RAM, ROM, rewritable nonvolatile memory (flash memory or EEPROM), and a microcontroller equipped with peripheral devices. The ROM stores programs, fixed data, and the like necessary for executing each process in the CPU. Also, the RAM is provided as a work area for the CPU and temporarily stores various data in the CPU. Note that the CPU is also called an MPU (Microprocessor) or a processor. Also, a GPU (Graphics Processing Unit) or a GSP (Graph Streaming Processor) may be used instead of the CPU. Alternatively, the CPU, GPU and GSP may be selectively used in combination.

When the driver sets a desired assistance mode, the driving assistance control unit 11 performs driving assistance in the corresponding assistance mode. The driving assistance control unit 11 has a driving assistance mode and a parking assistance mode as assistance modes.

The driving support mode performs map matching on the road map of the road map database 22b based on the own vehicle position information acquired by the GNSS sensor 22a of the map locator unit 22, which will be described later. Autonomous driving in the section where automatic driving is possible. In addition, this driving support mode uses the well-known adaptive cruise control (ACC) control, active lane keep (ALK) control, and lane departure prevention (LDP) on roads where automatic driving is difficult. ) control is executed, and when the own vehicle M is along the lane and a preceding vehicle is detected, the running control is executed to follow the preceding vehicle.

On the other hand, in the parking assistance mode, when the vehicle M enters the parking lot and the driver himself/herself drives in the parking lot, when the driver selects the mode, the driving assistance control unit 11 selects a parking space available for parking. is searched for and notified to the driver. When the driver selects a desired parking space from available parking spaces, the vehicle M is automatically parked in the selected parking space. Alternatively, the parking guide route for parking the own vehicle in the parking space is displayed superimposed on the surrounding image displayed on the HMI monitor 31 (to be described later) and the image of the own vehicle M, so that the driver can see the parking space. Provides parking assistance when parking by operation.

Further, on the input side of the driving support control unit 11, the driving state information (including the position and direction) of the own vehicle M, which is required when executing the driving support mode and the parking support mode, and the driving state information of the own vehicle M Sensor units that acquire surrounding environment information are connected.

In the present embodiment, the sensors and units required for executing each support mode include a forward recognition sensor 21, a map locator unit 22, an autonomous traveling sensor 23, a brake sensor 24 that turns on by detecting depression of the brake pedal, A select position sensor 25 for detecting a select position selected by the driver by manipulating the select lever, a rear sensor 26 for acquiring environmental information behind the own vehicle M, a left and right front side sensor 27, a left and right rear side sensor 28, and Left and right front side recognition cameras 29 are provided. Incidentally, the sensors 21, 26 to 29 constitute an environmental information acquisition section of the present invention.

The forward recognition sensor 21 is an image sensor, and in this embodiment, it has a stereo camera composed of a main camera 21a and a sub camera 21b, and an image processing unit (IPU) 21c, which uses CCD, CMOS, or the like as an imaging device. . Both cameras 21a and 21b have a predetermined base line length, for example above the rearview mirror in the front part of the interior of the vehicle, in a horizontal state with an equal distance left and right from the center in the vehicle width direction of a position close to the windshield. is set up. The forward recognition sensor 21 processes the image of the environment information of the predetermined area captured by both the cameras 21 a and 21 b by the IPU 21 c and then transmits the image to the driving support control unit 11 .

The map locator unit 22 also includes a GNSS (Global Navigation Satellite System) sensor 22a and a road map database 22b. The GNSS sensor 22a acquires the position coordinates of the own vehicle M by receiving positioning signals transmitted from a plurality of positioning satellites. The road map database 22b is a large-capacity storage medium such as an HDD, and stores road map information. The road map information stored in the road map database 22b includes road information (general road, arterial road, expressway, road shape, road direction, number of lanes, lane width, etc.) required when the driving support mode is executed, and static information of the parking lot (positional information of entrances and exits to the parking lot, site information, etc.) required for executing the parking assistance mode.

The driving support control unit 11 map-matches the position coordinates (latitude, longitude, altitude) of the host vehicle M acquired by the GNSS sensor 22a on the road map information stored in the road map database 22b, and displays the coordinates on the road map. Estimate the vehicle position (current position) in

The autonomous traveling sensor 23 is a general term for sensors required when the self-vehicle M is caused to travel autonomously. It consists of a sensor, a longitudinal acceleration sensor for detecting longitudinal acceleration, and the like.

In addition, the rear sensor 26 includes at least one of a monocular camera using a CCD, CMOS, or the like as an imaging device, an ultrasonic sensor, a millimeter wave radar, a microwave radar, an infrared sensor, a laser radar, a LiDAR (Light Detection And Ranging), or the like. consists of a combination of Alternatively, the rear sensor 26 may be a stereo camera composed of a main camera and a sub camera, like the front recognition sensor 21 described above.

Further, the left and right front side sensors 27 are arranged, for example, at the left and right ridges of the front bumper of the vehicle M, respectively, and scan the area (scanning area) from the left and right oblique front to the side of the vehicle M in a fan shape. . On the other hand, the left and right rear side sensors 28 are arranged, for example, at the left and right ridges of the rear bumper, and scan the area from the rear to the left and right of the vehicle M, which cannot be scanned by the left and right front side sensors 27, in a fan shape. Each side sensor 27, 28 is composed of millimeter wave radar, microwave radar, LiDAR, etc., and receives a reflected wave from a target (a parked vehicle Pv or an outer wall in the parking assistance mode) to to the target (parked vehicle Pv or outer wall), environmental information such as the distance and direction is acquired.

Furthermore, the left and right front side recognition cameras 29 are mounted near the left and right side mirrors, and detect whether or not there are parking frame lines, ruts, and footprints on the sides of the own vehicle M that are not included in the angle of view of the front recognition sensor 21. etc. to recognize. The left and right front side recognition camera 29 includes an imaging device such as a CCD or CMOS and an image processing unit. Send to control unit 11 .

The driving support control unit 11 is also connected to an HMI (Human Machine Interface) monitor 31 . The HMI monitor 31 displays a mode selection screen for the driver to select either the driving assistance mode or the parking assistance mode as the assistance mode to be executed by the driving assistance control unit 11, and displays available parking spaces for driving. A parking space selection screen (see FIG. 8) or the like for the user to select is displayed. Incidentally, the HMI monitor 31 may also be used as a multi-information display of a combination meter or a navigation display device (navigation monitor) of a car navigation system.

A drive control actuator 32 and a notification device 33 are connected to the output side of the driving support control unit 11 . The drive control actuator 32 is a general term for a power actuator, an electric power steering (EPS) actuator, a brake actuator, etc., which assist the running state of the own vehicle M. Here, the power actuator controls the output of a driving source such as an engine or an electric motor. The EPS actuator controls driving of the EPS motor. Also, the brake actuator adjusts the brake hydraulic pressure supplied to the brake wheel cylinder provided for each wheel. Furthermore, the notification device 33 notifies the driver of various types of information required when each assistance mode is being executed.

The driving support control unit 11 has a parking support control function to park the own vehicle M in the parking space instead of the driver or assist the driver to park the own vehicle M in the parking space by driving himself/herself. It has Specifically, the parking support control executed by the driving support control unit 11 is processed according to the parking support control routine shown in FIG. This routine is executed at predetermined calculation intervals after the system is activated.

In this routine, first, in step S1, the vehicle position information estimated by the map locator unit 22 is acquired, and the process proceeds to step S2, where map information around the vehicle position is obtained from the map locator unit 22 based on the vehicle position information. get.

Next, in step S3, map-matching of the vehicle position to the surrounding map is performed to check whether or not the vehicle M is entering the parking lot. When it is determined that the vehicle is entering the parking lot, the process proceeds to step S4. Also, when it is determined that the vehicle has not entered the parking lot, the routine is exited.

In step S4, the notification device 33 notifies the driver of whether or not the assistance mode should be set to the parking assistance mode by voice, and the HMI monitor 31 displays a parking assistance mode selection screen. Then proceed to step S5. Proceeding to step S5, it is determined whether or not the driver has selected the parking support mode, and if the driving support mode is selected, the process proceeds to step S6. If the driver does not select the driving support mode even after a predetermined time has elapsed after the announcement, or if the driver selects manual driving on the HMI monitor 31, the routine exits.

When proceeding to step S6, the parking assistance mode is executed and the routine exits. This parking assistance mode is executed according to the parking assistance mode execution subroutine shown in FIG. In this subroutine, first, in step S11, the forward/front side environment information recognized by the forward recognition sensor 21, the left and right front side sensors 27, and the left and right front side recognition cameras 29 is acquired.

Next, the process proceeds to step S12, and vehicles (parked vehicles) Pv parked on the left and right sides of the traffic lane are detected from the acquired front/front side environment information. That is, as shown in FIG. 7, while the own vehicle M is traveling in the traffic lane at a low speed, the vehicle (parked vehicle) Pv parked parallel to the left and right of the traffic lane is detected based on the acquired forward/front side environment information. To detect.

After that, the process proceeds to step S13 to check whether or not there is a parking space next to the detected parked vehicle Pv. This parking space is a space for normal parking having a predetermined parking width partitioned by a parking frame, which will be described later, and is a preset fixed value. If no parking space is detected, the process branches to step S14, and if a parking space is detected, the process proceeds to step S15.

When the process branches to step S14, it is checked whether or not the parking assist mode has ended. On the other hand, if the parking assistance mode continues, the process returns to step S11 and repeats the processes of steps S11 to S13. The parking assistance mode is terminated by the driver's operation via the HMI monitor 31 or the like. Alternatively, the parking assistance mode is automatically terminated when the driving assistance control unit 11 detects that the vehicle M has left the parking lot.

On the other hand, when proceeding from step S13 to step S15, it is checked whether or not the parking frame drawn on the road surface for partitioning the parking space is recognized. For example, the parking frame is detected by the front/front side environment information acquired by the front recognition sensor 21, the left/right front side sensor 27, and the left/right front side recognition camera 29, and the luminance difference between the road surface and the edge of the parking frame, or Recognition is based on changes in intensity (reflectance) of reflected light or reflected waves from the parking frame.

Then, when the driving support control unit 11 determines that the parking frame is recognized, the process proceeds to step S16, executes the favorable environment parking support process, and exits the routine. Note that this favorable environment parking support processing is the same as conventional parking support in which the own vehicle M is guided to a parking space based on the parking frame, and thus the description thereof is omitted.

On the other hand, if it is determined that the parking frame cannot be recognized, that is, the road surface of the parking lot is covered with snow or mud remaining after flooding, and the parking frame drawn on the road surface cannot be recognized, The process advances to step S17 to execute a parking assistance process under bad environment and exit the routine. This adverse environment parking assistance process is executed according to the adverse environment parking assistance subroutine shown in FIGS.

In this subroutine, first, the virtual parking frame 41 is read in step S21. The data of the virtual parking frame 41 is stored in advance as fixed data in a storage unit such as a ROM or a non-volatile memory. This is a frame showing the criteria for checking whether or not it is possible. That is, as shown in FIG. 6A, the virtual parking frame 41 is set in a rectangular shape having four sides orthogonal to each other, the front-rear direction is set to the front-rear length of the own vehicle M, and the left-right direction is set to the width of the own vehicle M. The required parking width Ws is obtained by adding the width. The required parking width Ws may be initially set by the driver.

Next, in step S22, the interval (width of parking space) Wp between parking spaces next to the detected parked vehicle Pv is calculated. This parking space width Wp is determined based on the forward/front side environmental information acquired by the forward recognition sensor 21, the left/right front side sensor 27, and the left/right front side recognition camera 29, and the vehicles parked in the parallel direction (parked vehicles) Pv ( 7 and 9) and a target such as an outer wall, the width of the recognized target (parked vehicle Pv, the outer wall) and the forward distance from the target to the own vehicle M are obtained. , the distance between the targets (parking space width Wp) is obtained. It should be noted that the processing in step S22 corresponds to the parking interval calculation section of the present invention.

After that, the process proceeds to step S23, and the parking space width Wp and the required parking width Ws are compared. If Wp≧Ws, it is determined that the space is available for parking the own vehicle M, and the process proceeds to step S24. If Wp<Ws, it is determined that it is difficult to park the own vehicle M, and the process jumps to step S30. It should be noted that the processing in step S23 corresponds to the parking width comparison section of the present invention.

Next, the process proceeds to step S24, the virtual parking frame 41 is set in the detected parking space, and the process proceeds to step S25. In this virtual parking frame 41, the center in the width direction of the virtual parking frame 41 is set to the center in the width direction of the parking space, and the side of the virtual parking frame 41 on the side of the host vehicle M is set on the same plane as the tip of the front target. set. At this time, for example, when the distance (Wp) between the targets is twice or more the required parking width Ws, the number of virtual parking frames 41 that can fit in the space is set at equal intervals. Also, if the space between adjacent parked vehicles Pv is wide and three or more virtual parking spaces 41 can be set, the parking space is too wide, so the virtual parking space 41 is not selected, and the process jumps to step S30. good. It should be noted that the processing in step S24 corresponds to the virtual parking frame setting section of the present invention.

When the process proceeds to step S25, a relatively close target (a parked vehicle Pv or an outer wall) is located on three sides of the virtual parking frame 41 other than the side (the side not facing the target) 41a on the host vehicle M side. Whether or not they are facing is checked based on the front/front side environment information. Then, when the target faces three sides (see FIG. 10), the process jumps to step S28. If at least one of the three sides of the virtual parking frame 41 has a side 41a that does not face the target (see FIGS. 11 and 12), the process proceeds to step S26. 10 to 12, the side 41a not facing the target is indicated by solid lines, and the side 41b facing the target is indicated by broken lines.

As shown in FIG. 10, three parked vehicles Pv as targets face three sides of the virtual parking frame 41 other than the side 41a on the host vehicle M side. In this case, since only the side 41a does not face the parked vehicle Pv of the virtual parking frame 41, it can be estimated that the virtual parking frame 41 is highly likely to be a parking space. The same applies even if only the parked vehicle Pv on the far side is an outer wall.

On the other hand, in FIG. 11, the parked vehicles Pv as targets are parked in parallel on both sides of the virtual parking frame 41. Therefore, the two opposing sides 41a indicated by solid lines do not face the two parked vehicles Pv. It becomes the side 41a. Also, in FIG. 12, one of the parked vehicles Pv as a target is parked in parallel next to the virtual parking frame 41, and the other parked vehicles Pv are parked in the back. Therefore, two adjacent sides 41a indicated by solid lines are sides 41a not facing two parked vehicles Pv.

Proceeding to step S26, from the forward/front side environment information recognized by the forward recognition sensor 21, the left/right front side sensor 27, and the left/right front side recognition camera 29, the road surface information focusing on the virtual parking frame 41 set in the parking space is obtained. It is checked whether or not there is a rut 101 in the virtual parking frame 41 from this road surface information. For example, the rut 101 can be detected based on the road surface information, based on the difference in luminance caused by the difference in level (edge) between the snow-covered surface and the mud-covered surface derived from the rut 101, or the change in the intensity of the reflected light or the reflected wave (reflectance). A rut 101 is recognized by performing a well-known pattern matching process or the like on a series of feature points indicating the edge of .

Then, when it is determined that there is a rut 101, the process proceeds to step S27. If the rut 101 is not detected, the virtual parking frame 41 is assumed to be a parking space, and the process jumps to step S28. Incidentally, the processing in step S26 corresponds to the rut detecting section of the present invention.

Proceeding to step S27, it is determined whether or not the rut 101 intersects two sides 41a including the entrance, which the parked vehicle Pv does not face, based on the front/front side environment information. Note that the rut 101 is determined by extracting the snow-covered surface, the mud-covered surface, and the step (edge) derived from the rut 101 based on the front/front-side environmental information. Also, the processing in steps S25 to S27 corresponds to the parking space determination section of the present invention.

Then, if the intersecting rut 101 is not detected, the process proceeds to step S29. Further, when the rut 101 that intersects two sides is detected, it is estimated that the space in which the virtual parking frame 41 is set is likely to be a traffic lane, and the process proceeds to step S28, where the virtual parking frame 41 set in the parking space is detected. is cleared, and the process jumps to step S30.

When the rut 101 intersects only one of the two sides 41 a not facing the parked vehicle Pv, that is, only the side 41 a on the own vehicle M side, and the end of the rut 101 is cut off within the virtual parking frame 41 (See FIG. 10) can be estimated to be highly likely to be tire marks for parking. On the other hand, as shown in FIGS. 11 and 12, if a rut 101 that intersects (traverses) the two sides 41a of the virtual parking frame 41 not facing the parked vehicle Pv is detected, this is a parking space. It can be estimated that there is a high possibility that it is a traffic lane.

Thereafter, when the process proceeds from any of steps S25 to S27 to step S29, the current virtual parking frame 41 is set as the parking space Ps, and the process proceeds to step S30. It should be noted that the processing in steps S28 and S29 corresponds to the parking space setting section of the present invention.

Then, when proceeding from one of steps S23, S28, and S29 to step S30, it is checked whether or not detection of all possible parking space candidates based on the front/front side environment information acquired this time has been completed. If it is not yet completed, the process returns to step S12 in FIG. 3 to search for the next parking space candidate, and the next parked vehicle Pv is detected. If all parking space candidates have been detected, the process proceeds to step S31.

In step S31, the currently detected parking space Ps is displayed on the HMI monitor 31. FIG. FIG. 8 exemplifies a parking space Ps displayed on the HMI monitor 31. As shown in FIG. As shown by hatching in FIG. 7, when the virtual parking frames 41 set at two locations on the front side and the back side of the traffic lane are set as the parking spaces Ps, the HMI monitor 31 displays the set parking spaces Ps. is displayed in a bird's-eye view.

Next, in step S32, the notification device 33 is driven to announce to the driver which of the available parking spaces Ps (two spaces in FIG. 8) displayed on the HMI monitor 31 is to be selected. . Then, in step S33, it is determined whether or not the driver has selected any available parking space. For example, as shown in FIG. 8, when the driver wishes to automatically park in the parking space Ps closer to the store, the driver touches the upper parking space Ps displayed on the HMI monitor 31 .

Then, when it is determined in step S33 that the driver has selected any of the parking spaces Ps, the process proceeds to step S34. Further, when a predetermined time has passed after the announcement or when the own vehicle M passes in front of the parking available space displayed on the HMI monitor 31, the process branches to step S35. It should be noted that the processing in step S33 corresponds to the parking space selection section of the present invention.

When branching to step S35, the driving support control unit 11 clears all the displayed parking spaces and If the own vehicle M passes in front of the applicable parking space, the display of the parking space is cleared, and the process proceeds to step S37.

In step S37, it is checked whether or not the parking assist mode has ended. On the other hand, if the parking assistance mode continues, the process returns to step S11 in FIG. 3, and the next parked vehicle Pv is detected based on the newly acquired front/front side environment information. The termination of the parking assistance mode is the same as the processing in step S14 shown in FIG. 3 described above.

On the other hand, when proceeding from step S33 to step S34, the driving support control unit 11 sets the parking space Ps (upper side in FIG. 8) selected by the driver as the current target parking space Pt (see FIG. 8), Go to step S36. In step S36, the control for automatically parking the host vehicle M in the target parking space Pt is executed, and the routine ends. It should be noted that the processing in steps S34 and S36 corresponds to the parking support section of the present invention.

That is, in the automatic parking assistance by the driving assistance control unit 11 in steps S34 and S37, first, as shown in FIG. 9, a target parking guideway Gr for guiding the host vehicle M to the target parking space Pt is set. The target parking guideway Gr is set so that the center of the vehicle M in the width direction coincides with the center of the target parking space Pt in the width direction. Alternatively, for example, if the parking space width Wp between the targets (parked vehicles Pv) is greater than or equal to a predetermined value (for example, 1.5 times) with respect to the required parking width Ws of the target parking space Pt of the own vehicle M, A target parking space Pt is set by moving the end of the required parking width Ws on the driver's seat side of the vehicle M toward the adjacent target (parked vehicle Pv). Then, the target parking guideway Gr may be set so that the center of the vehicle M in the width direction is parked in the center of the target parking space Pt in the width direction.

After that, the driving support control unit 11 automatically parks the own vehicle M in the target parking space Pt, and exits the routine. This target parking guideway Gr is set according to a normal target parking guideway that is set when the parking frame is recognized.

As a result, for example, as shown in FIG. 9, the position information of all the parked vehicles Pv parked in the parking lot can be acquired by the own vehicle M going around the traffic lane of the parking lot. In this case, the position of all the parked vehicles Pv parked in the parking lot and the available parking space Ps indicated by hatching in the drawing are displayed in a bird's-eye view on the HMI monitor 31 as in FIG. of available parking spaces Ps may be selected.

As described above, in this embodiment, when attempting to automatically park the own vehicle in the parking space of the parking lot, first, it is checked whether there is a parking space for the own vehicle M next to the parked vehicle Pv, When a parking space is detected, it is checked whether or not a parking frame that defines the parking space is recognized in the parking space. When the parking frame cannot be recognized because it is covered with snow or mud, the bad environment parking support process is executed.

In the bad environment parking support process, the parking space width Wp next to the parked vehicle Pv is calculated, and this parking space Wp is compared with the required parking width Ws of the virtual parking frame 41 set for the own vehicle M. Then, when Wp≧Ws and three sides of the virtual parking frame 41 are facing targets, the virtual parking frame 41 is set as the parking space Ps. As a result, when trying to park the own vehicle in the parking space using the parking support function, the parking frame cannot be recognized, and moreover, multiple types of ruts are carved into and out of the empty parking space. Alternatively, even if there are no ruts at all, it is possible to easily detect available parking spaces.

In addition, when the virtual parking frame 41 has two sides that do not face the target and the ruts intersect the two sides, it is estimated that the virtual parking frame 41 is set to a traffic lane, Since the parking space Ps is not set in the virtual parking frame 41, the vehicle M will not be parked in the traffic lane by mistake.

The present invention is not limited to the above-described embodiment. For example, the driver manually operates the own vehicle M to go around the parking lot, and the virtual parking frame 41 is accommodated while viewing the HMI monitor 31. Find a parking space. Then, when the driver specifies a parking space in which the virtual parking frame 41 fits, the driver temporarily stops the host vehicle M in front of the parking space and selects the driving support mode. Thereby, the driving assistance control unit 11 may check whether or not the own vehicle M can be parked in the specified parking space, and may execute driving assistance when it is determined that parking is possible.

Further, for example, in the process of step S36 described above, the target parking guideway Gr is superimposed on the HMI monitor 31 in a bird's-eye view of the surroundings of the parking space to be parked, and the driver himself/herself drives the own vehicle M into the target parking space. The vehicle may be parked along the guide route Gr.

1... Parking assistance device,
11 ... driving support control unit,
21 ... forward recognition sensor,
21a... Main camera,
21b... Sub camera,
22 ... map locator unit,
22a ... GNSS sensor,
22b... road map database,
23... Autonomous traveling sensor,
24 ... brake sensor,
25... select position sensor,
26 ... rear sensor,
27... Left and right front side sensors,
28... Left and right rear side sensors,
29... Left and right front side recognition camera,
31...HMI monitor,
32 ... drive control actuator,
33 ... notification device,
41... Virtual parking frame,
41a ... the side not facing the target,
41b... side 101 facing the target... rut,
Gr... Target parking taxiway,
M... own vehicle,
Ps: available parking space,
Pt: target parking space,
Pv ... target (parked vehicle),
Wp... Parking space width,
Ws…Required parking width

Claims (5)

In a parking assistance device that guides a vehicle to a parking space in a parking lot,
an environment information acquisition unit that acquires environment information around the own vehicle;
a storage unit that stores a virtual parking frame necessary for parking the own vehicle;
a parking interval calculation unit that calculates the width of the parking space based on the environment information acquired by the environment information acquisition unit;
a parking width comparison unit that compares the width of the parking space calculated by the parking interval calculation unit and the width of the virtual parking frame stored in the storage unit;
a virtual parking frame setting unit that sets the virtual parking frame in the parking space when the parking width comparison unit determines that the width of the parking space is wider than the width of the virtual parking frame;
Based on the environment information acquired by the environment information acquisition unit, it is determined whether or not a target faces three sides of the virtual parking frame set by the virtual parking frame setting unit, excluding the side on the own vehicle side. a parking space determination unit that examines the
a parking space setting unit that sets the virtual parking frame to a parking space in which the own vehicle can be parked when the parking space determination unit determines that the target faces the three sides;
A parking assistance device, comprising: a parking assistance unit that guides the own vehicle to the parking space set by the parking space setting unit. The parking space determination unit has a rut detection unit that detects ruts in the virtual parking frame based on the environment information acquired by the environment information acquisition unit,
The parking space setting unit determines that the target does not face at least one side of three sides of the virtual parking frame excluding the side on the vehicle side of the virtual parking frame, and the rut. 2. The parking assist system according to claim 1, wherein the virtual parking frame is cleared when the detection unit detects the rut that crosses two sides of the virtual parking frame that the target does not face. 2. The parking assistance device according to claim 1, wherein the parking assistance unit guides the vehicle so that the widthwise center of the own vehicle coincides with the widthwise center of the parking space. The two sides not facing the target are the side facing the own vehicle and the side opposite to the side facing the own vehicle, or the side adjacent to the side facing the own vehicle and the side facing the own vehicle. 4. The parking assistance device according to claim 1, wherein the side is a side of . a parking space selection unit that allows a driver to select one of the parking spaces when a plurality of the parking spaces are set by the parking space setting unit;
The parking assistance device according to any one of claims 1 to 4, wherein the parking assistance unit guides the own vehicle to the parking space selected by the parking space selection unit.

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