JP2023017465A - 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 reduce inconvenience that the device wrongly guides the own vehicle to a walkway in which parking is prohibited, even in a situation where 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, 26-28; determines a parking space width Wp between parked vehicles Pv parked in a parking lot on the basis of the environment information; when the parking space width Wp is larger than a required parking width Ws of a virtual parking frame 41 that is required in parking the own vehicle M, sets the virtual parking frame 41 in the parking space; and when the parked vehicles Pv or marks 51 of shoes are not facing one side other than the own vehicle M side of the virtual parking frame 41, estimates that the virtual parking frame 41 is not the parking space.SELECTED DRAWING: Figure 1

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking assist system that reduces the inconvenience of erroneously determining a sidewalk or traffic lane in a parking lot as a parking space in a parking lot where parking frames drawn on the road surface cannot be recognized.

2. Description of the Related Art Conventionally, there is known a parking assistance device 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 guidance route.

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. 2006-7875), it is first determined whether there is a space in which the own vehicle can be parked between parked vehicles that are parked in parallel. 1/2 width of each parked vehicle is subtracted from the distance between the two parked vehicles to obtain the gap distance between the two parked vehicles. Judged as possible. Then, a technique is disclosed in which the center of this gap processing is set to the center of the planned parking area to guide the vehicle.

Japanese Patent Application Laid-Open No. 2006-7875

By the way, when trying to park the own vehicle in a parking lot of a store, etc., the parking position changes according to the already parked vehicles (parked vehicles), so it is difficult to always park in a fixed place. be. Also, the layout of the parking spaces set in the parking lot is different for each store.

Therefore, as disclosed in Cited Document 1, even if a gap distance is detected between two parked vehicles that are parked in parallel, the road surface remains after snow or flooding. Since the parking frame drawn on the road surface cannot be recognized when covered with mud, etc., this gap may not be a parking space, but a sidewalk or traffic lane where parking is prohibited. .

The technique disclosed in the above-mentioned cited reference 1 simply determines whether or not the own vehicle can be parked from the gap distance between the adjacent parked vehicles. Therefore, the control unit may guide the own vehicle to a sidewalk or traffic lane set between parking spaces where parking is prohibited.

The present invention provides a sidewalk where parking is prohibited by mistake even in a situation where a parking frame cannot be recognized when trying to park the own vehicle in a parking space using a parking support function. To provide a parking assist device capable of reducing the inconvenience of being guided to the parking lot.

The present invention provides a parking assistance device for guiding a vehicle to a parking space in a parking lot, in which 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 for calculating the width of the parking space between targets 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 the a parking width comparison unit that compares the width of the virtual parking space stored in a storage unit; 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 a virtual parking frame setting unit for setting the virtual parking frame in the parking space; A parking space determination unit that determines whether or not the target object or the shoe print recognized based on the environment information acquired in the above is facing; A parking space setting unit that sets the virtual parking frame as the parking space when it is determined that the target or the shoe print faces the outside of the side of the virtual parking frame excluding the side on the own vehicle side. 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 or a shoe mark faces the outside of three sides of the frame excluding the side of the frame, and if the target or the shoe mark faces three sides, this virtual parking frame is set. , the vehicle is set as a parking space in which the vehicle can be parked, and the vehicle is guided to this parking space. It is possible to reduce the inconvenience of erroneously guiding the vehicle to a sidewalk where parking is prohibited.

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 a mode of counting the number of shoe prints in a virtual parking frame. A bird's-eye view showing a state in which parked vehicles face three sides of a virtual parking frame. A bird's-eye view showing a state in which parked vehicles face the left and right sides of the virtual parking frame, and shoe prints face the back side. A bird's-eye view showing a state in which parked vehicles face two adjacent sides of a virtual parking frame and shoe prints face one side. A bird's-eye view showing a state in which shoe prints face two adjacent sides of a virtual parking frame and one side faces a parked vehicle. A bird's-eye view showing a state in which two sides of the virtual parking frame, one on the side of the vehicle and the other on the back, are vacant. A bird's-eye view showing a state in which shoe marks cross the virtual parking frame

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.

In the driving support mode, based on the vehicle position information acquired by the GNSS sensor 22a of the map locator unit 22, which will be described later, map matching is performed on the road map of the road map database 22b, and the vehicle is driven along a preset target route. , Autonomous driving in the section where automatic driving is possible. In addition, on roads where automatic driving is difficult, this driving support mode uses the well-known adaptive cruise control (ACC) control, active lane keep (ALK) control, and lane departure suppression (LDP). Prevention) control is executed, and when the own vehicle M follows the lane and a preceding vehicle is detected, 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 guidance route for parking the own vehicle M 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, and the driver himself/herself. Parking assistance is provided when parking with the operation of .

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 on entrances and exits of the parking lot, space information on the premises, etc.) required when the parking assistance mode is executed.

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 reflected waves from targets (parked vehicle Pv, outer wall in parking support mode), acquires environmental information such as the distance and direction from to the target.

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, the vehicle position is map-mapped on the surrounding map, and it is checked whether 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. Further, if the driver does not select the driving assistance mode or selects manual driving on the HMI monitor 31 even after a predetermined time has elapsed after the announcement, 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 determined based on 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, based on the luminance difference between the road surface and the edge of the parking frame, or the road surface and the parking frame from the intensity change (reflectance) of reflected light or reflected waves.

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, when it is determined that the parking frame drawn on the road surface cannot be recognized because the parking frame cannot be recognized, that is, because the road surface is covered with snow or mud remaining after flooding, step The process advances to S17 to execute the 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 FIGS. 6A to 6C, the virtual parking frame 41 is set in a rectangular shape with four sides perpendicular to each other, the front-rear direction is set to the front-rear length of the own vehicle M, and the left and right are set to the length of the own vehicle M. The necessary parking width Ws is obtained by adding the extra width to the width.

Next, in step S22, the width of the parking space next to the detected parked vehicle Pv (parking space width) Wp is calculated. This parking space width Wp is determined based on 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 vehicle parked in the parallel direction (parked vehicle) Pv (See FIGS. 7 and 9) and a target such as an outer wall is recognized, and the width of the recognized target (parked vehicle Pv, 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. Therefore, the processing in step S22 has the function of the parking interval calculator 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 S34. It should be noted that the processing in step S23 corresponds to the parking width comparison section of the present invention.

In 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 own vehicle M is flush with the front end of the parked vehicle Pv on this side. (see FIG. 7). It should be noted that the processing in step S24 corresponds to the virtual parking frame setting section of the present invention.

At that time, for example, as shown in the space on the right side of FIG. 7, if the space between the parked vehicles Pv is at least twice the required parking width Ws, the space has the number of virtual parking frames 41 that fit in the space. are evenly spaced. 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.

In step S25, the number of shoe prints 51 (the number of shoe prints) ns in the virtual parking frame 41 is counted. The processing in this step corresponds to the shoe trace counting section of the present invention. The shoeprints 51 are, for example, based on forward and front side environment information acquired by the front recognition sensor 21, the left and right front side sensors 27, and the left and right front side recognition cameras 29, and the snow-covered surface and the mud-covered surface derived from the shoe prints 51. Based on the brightness difference occurring at the step (edge) or the change (reflectance) in the intensity of the reflected light or reflected wave, a known pattern matching process or the like is performed on a series of feature points indicating the outline of the shoeprint, and the shoeprint 51 to recognize

Next, in step S26, the number of shoe prints ns counted in the virtual parking frame 41 is compared with a sidewalk determination threshold value nso for determining that the space is a sidewalk. As shown in FIG. 10, when the space in which the virtual parking frame 41 is set is a sidewalk, more foot prints 51 are scattered there than when this space is a parking space because of the frequent traffic of pedestrians.

On the other hand, if this space is a parking space, the shoe prints 51 are considered to be those of passengers getting on and off the parked vehicle parked in the space. Therefore, as shown in FIG. Since it is detected, the number of shoe prints ns is considered to be smaller than that of the sidewalk. The sidewalk determination threshold value nso described above is a number that can be estimated to indicate a high possibility of a sidewalk, and is determined and set in advance through experiments or the like. Instead of the number ns of shoe prints, the ratio of the number ns of shoe prints to the area of the virtual parking frame 41 (ns/area) may be used. For example, it is set to about 0.6 to 0.7).

If ns≧nso, it is determined that the space is likely to be a sidewalk, and the process jumps to step S29. If ns<nso, the process proceeds to step S27. In step S27, it is checked whether this virtual parking frame 41 is a parking space. That is, if a target (a parked vehicle Pv, an outer wall) or a large number of shoe prints 51 face outside three sides of the virtual parking frame 41 other than the side facing the own vehicle M, the space is a parking space. It is estimated that there is a high possibility of The parked vehicle Pv and the outer wall, which are targets, are examined based on the front and front side environment information. Since the recognition of the shoe print 51 has already been described, the description is omitted.

In the virtual parking frame 41 shown in FIGS. 10 to 16, the side 41a facing neither the target nor the shoeprint 51 is indicated by a solid line, and the side 41b facing the target or the shoemark 51 is indicated by a broken line. . Also, the processing in steps S25 to S27 corresponds to the parking space determination section of the present invention.

Then, when it is determined that the three sides face the target object or the shoe print 51, the process proceeds to step S28. Further, when it is determined that at least one side other than the side 41a of the virtual parking frame 41 on the vehicle side does not face the target or the shoe print 51, the process branches to step S29. For example, as shown in FIG. 11, when three parked vehicles Pv, which are targets, face three sides of the virtual parking frame 41, the parking space is surrounded by the parked vehicles Pv. can be assumed to be the entrance/exit of the parking space. It should be noted that instead of the parked vehicle Pv, the back side or either of the left and right sides of the virtual parking frame 41 may face the outer wall.

Further, for example, as shown in FIGS. 12 and 13, two sides other than the side 41a on the side of the own vehicle M face the parked vehicle Pv, and the other side faces a plurality of shoe prints 51, Moreover, when the shoe print 51 does not cross the virtual parking frame 41, it can be determined that the pedestrian is intentionally avoiding the virtual parking frame 41 when passing through, so the virtual parking frame 41 is a parking space. It can be estimated that the possibility is high. Note that the shoe marks 51 recognized and counted in FIG. 12 are set in a range obtained by extending the required parking width Ws of the virtual parking frame 41 .

Furthermore, as shown in FIG. 14, one side other than the side 41a facing the own vehicle M faces the parked vehicle Pv, and the other two adjacent sides face a plurality of shoe prints 51. , if the shoe print 51 does not cross the virtual parking frame 41, it can be determined that the pedestrian is intentionally avoiding the virtual parking frame 41 as in FIG. It can be estimated that there is a high possibility that it is a parking space.

On the other hand, as shown in FIGS. 10, 15, and 16, when there is a side 41a on which the target or the shoe print 51 does not face, other than the side 41a of the virtual parking frame 41 on the vehicle M side. For example, as shown in FIG. 15, even if no shoe prints 51 are detected in the virtual parking frame 41, other vehicles are not intentionally parked and this space may be a sidewalk. Estimate high. Also, as shown in FIG. 16, when a side 41a that is adjacent to the side 41a on the side of the own vehicle M and is not faced by the target or the shoe print 51 is detected, the adjacent side 41a is detected as shown in FIG. It is estimated that there is a high possibility that a sidewalk has been set up across the

Then, in step S27, it is determined that the three sides 41b other than the side 41a of the host vehicle M are facing the target or the shoe print 51, and the process proceeds to step S28, where the current virtual parking frame 41 can be parked. Set it to the space Ps and proceed to step S30. Also, when branching from either step S26 or S27 to step S29, since the space in which the virtual parking frame 41 is set is likely to be a sidewalk, the virtual parking frame 41 set in the space is cleared, 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.

When proceeding from one of steps S23, S28, and S29 to step S30, it is checked whether detection of all possible parking spaces 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 . It should be noted that the processing in step S33 corresponds to the parking space selection section of the present invention.

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.

In step S35, if the driver has not selected any parking space after a predetermined period of time has elapsed, the driving support control unit 11 clears all the displayed parking spaces, and the vehicle M is When passing in front of the corresponding 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 it is determined that the parking assistance mode is continued, the process returns to step S11 in FIG. 3, and the next parked vehicle Pv is carried out based on the newly acquired front/front side environmental laws. 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, and proceeds 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.

In the automatic parking control executed in step S36 by the driving support control unit 11, first, as shown in FIG. 9, a target parking guidance route Gr for guiding the host vehicle M to the target parking space Pt is set. The target parking guidance route 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 host vehicle M, A target parking space Pt is set by moving the end of the required parking width Ws set on the driver's seat side of the vehicle M toward the adjacent target (parked vehicle Pv). Then, the target parking guidance route 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 guidance route Gr is set according to a normal target parking guidance route 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 the vehicle is to be automatically parked in the parking space of the parking lot, when the parking frame that defines the parking space is covered with snow or mud, the vehicle cannot be recognized. , the parking space width Wp between adjacent targets (parked vehicles Pv, walls) and the required parking width Ws of the virtual parking frame 41 set for the host vehicle M are compared. Then, even if Wp≧Ws and the number ns of shoe prints detected in the virtual parking frame 41 is less than the sidewalk determination threshold value nso (ns<nso), any side other than the side 41a on the side of the host vehicle M If there is no target or shoe print 51 facing the space, it is estimated that this space is likely to be a sidewalk. can be reduced.

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 HMI monitor 31 displays the target parking guidance route Gr superimposed on the bird's-eye view of the surroundings of the parking space to be parked, so that 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,
21c... image processing unit (IPU),
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 or the shoe print,
41b ... the side facing the target or the shoe print,
51...Shoe prints,
Gr...Target parking guidance route,
M... own vehicle,
Ps: available parking space,
Pt: target parking space,
Pv... parked vehicle,
Wp... Parking space width,
Ws: Required parking width,
ns: number of shoe prints,
nso: Sidewalk judgment threshold

Claims (5)

In a parking assistance device that guides the own 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 a width of a parking space between targets 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;
The target or the footprint recognized based on the environment information acquired by the environment information acquisition unit is outside the side 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 determines whether or not it faces,
When the parking space determination unit determines that the target or the shoe print faces the outside of the side of the virtual parking frame set by the virtual parking frame setting unit excluding the side on the own vehicle side, a parking space setting unit that sets the virtual parking frame to the parking space;
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. 2. The parking assist system according to claim 1, wherein the parking space determination unit clears the virtual parking frame when the number of shoe prints in the virtual parking frame exceeds a sidewalk determination threshold. The parking space determination unit clears the virtual parking frame when the target or the shoe print does not face outside at least one side of the virtual parking frame excluding the side on the side of the vehicle. 2. The parking assistance device according to claim 1. The side of the virtual parking frame that does not face the target is the side facing the own vehicle and the side facing the side facing the own vehicle, or the side facing the own vehicle and the side facing the own vehicle. 4. The parking assistance device according to claim 3, wherein the side adjacent to the . 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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