JP4013589B2 - Parking type determination device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a parking type determination means that automatically determines whether a parking type is parallel parking or parallel parking, which is useful for operation support during parking.
[0002]
[Prior art]
  For example, in Japanese Patent Laid-Open No. 2001-180402, an ideal steering method is automatically calculated while a driver selects a parallel parking or a parallel parking with an operation switch, while photographing the rear of the vehicle with a camera and displaying it on a monitor. A technique for performing voice guidance according to the steering angle of the driver's steering is disclosed.
[0003]
[Problems to be solved by the invention]
  In the above technique, the driver increases the task during operation called switch selection, and a part called an operation switch is required. On the other hand, parallel parking and parallel parking are different in steering timing, monitoring area and monitored objects, so the task itself is different and it can be said that it is substantially different parking assistance, in order to omit the driver's operation An automatic determination device is required.
[0004]
  The present invention is a parking type determination device for automatically determining the parking type of parallel parking and parallel parking, which has been made in order to solve the above problems.
[0005]
[Means for Solving the Problems]
  To solve the above problem,The invention according to each claim of the present application,A parking type determination device that is mounted on a vehicle and determines a parking type, and a parking will acquisition unit that acquires that a driver has entered a parking operation automatically or by a driver's operation, and a parking will acquisition unit In response to the signal indicating that the parking operation is in progress, the surrounding situation acquisition means that automatically obtains and outputs one or more vehicle surrounding conditions and the data of the surrounding situation acquisition means determine whether the parking type is parallel parking or parallel parking. Parking type determination means for automatic determinationHave
[0006]
  The first feature to be added selectively isThe surrounding situation acquisition means automatically determines whether the vehicle is on the road or not on the road, and the parking type determination means receives a signal from the surrounding situation acquisition means that the vehicle is on the road. In the case of parallel parking, if a signal indicating that the vehicle is not on the road is received from the surrounding situation acquisition means, it is determined that the parking is parallel parkingIt is.
[0007]
  The second feature to be added selectively isThe surrounding situation acquisition means automatically recognizes the road and automatically obtains the vehicle direction relative to the road direction. The parking type determination means determines whether the vehicle direction relative to the road direction is from the surrounding situation acquisition means. When a signal that is less than the predetermined angle is received, it is determined that the parking is parallel parking, and when the signal indicating that the vehicle direction with respect to the road direction is equal to or greater than the predetermined angle is received from the surrounding situation acquisition means, it is determined that the parking is parallel parking.It is. Hereinafter, until claim 7In, the angle indicates an absolute value and does not distinguish between positive and negative.
[0008]
  The third feature to be added selectively is claim 1Means described inlike,The surrounding situation acquisition means automatically recognizes the parking frame and automatically acquires the vehicle direction with respect to the parking frame direction, and the parking type determination means receives the parking frame direction from the surrounding situation acquisition means. When a signal indicating that the vehicle direction is less than a predetermined angle is received, it is determined that parallel parking is performed. When a signal indicating that the vehicle direction with respect to the parking frame direction is equal to or greater than the predetermined angle is received from the surrounding situation acquisition unit, it is determined that parallel parking is performed.That is.
[0009]
  Claim 2The means described inThe first and second featuresIt can be said that it is a combination. That is,Claim 2According to the means described in the above, the surrounding situation acquisition means automatically determines whether the vehicle is on the road or not on the road, and automatically recognizes the road, and automatically determines the vehicle direction relative to the road direction. When the parking type determination means receives a signal from the surrounding situation acquisition means that the vehicle is on the road and a signal that the vehicle direction with respect to the road direction is less than a predetermined angle. When it is parallel parking, it determines with it being parallel parking if the signal from a periphery condition acquisition means is other than that.
[0010]
  Claim 3The means described inThe first and third featuresIt can be said that it is a combination. That is,Claim 3According to the means described in the above, the surrounding situation acquisition means automatically determines whether the vehicle is on the road or not on the road, and automatically recognizes the parking frame, and determines the vehicle direction relative to the parking frame direction. The parking type determination means receives a signal from the surrounding situation acquisition means that the vehicle is not on the road and a signal that the vehicle direction relative to the parking frame direction is equal to or greater than a predetermined angle. In the case of parallel parking, in other cases, it is determined that the parking state is parallel parking when the signal from the surrounding state acquisition means is other.
[0011]
  Claim 4The means described inThe second and third featuresIt can be said that it is a combination. That is,Claim 4According to the means described in the above, the surrounding situation acquisition means automatically recognizes the road, automatically acquires the vehicle direction with respect to the road direction, and automatically recognizes the parking frame, with respect to the parking frame direction. The vehicle direction is automatically acquired, and the parking type determination means is a signal from the surrounding situation acquisition means that the vehicle direction with respect to the road direction is a predetermined angle or more, and the vehicle direction with respect to the parking frame direction is a predetermined angle or more. When a certain signal is received, it is determined that parallel parking is performed, and in other cases, it is determined that parallel parking is performed in other cases.
[0012]
  Claim 5The means described in, The first to third featuresIt can be said that it is a combination. That is,Claim 5According to the means described in the above, the surrounding situation acquisition means automatically determines whether the vehicle is on the road or not on the road, and automatically recognizes the road, and automatically determines the vehicle direction relative to the road direction. And automatically recognizing the parking frame and automatically acquiring the vehicle direction relative to the parking frame direction. If you receive a signal that the direction is more than a predetermined angle and you receive a signal that the vehicle is not on the road, or if you receive a signal that the vehicle direction with respect to the road direction is more than a predetermined angle, parallel parking If it exists, it determines with it being parallel parking if other than the signal from a periphery condition acquisition means.
[0013]
  Claim 6The means described inIn addition to the second feature,The peripheral status acquisition means can further automatically acquire the distance between the left and right road edges and a predetermined position of the host vehicle, and the parking type determination means can determine whether the left and right parking in addition to the determination of parallel parking and parallel parking. From the distance between the right road edge and a predetermined position of the host vehicle, it is automatically determined from four types of left side parallel parking, right side parallel parking, left side parallel parking, and right side parallel parking.
[0014]
  Claim 7The means described inClaim 1In the parking type determination device described in the above, the surrounding situation acquisition unit can further automatically acquire the distance between the left and right parking frames and a predetermined position of the host vehicle, and the parking type determination unit includes parallel parking and parallel parking. In addition to the determination of parking, from the distance between the left and right parking frames and a predetermined position of the host vehicle, automatic determination from four types of left side parallel parking, right side parallel parking, left side parallel parking, and right side parallel parking Features.
[0015]
  Claim 8The means described inIn addition to the second feature,The surrounding situation acquisition means further acquires the vehicle direction with respect to the road direction along with the positive and negative types, and the parking type determination means further matches the positive and negative types with respect to the vehicle direction with respect to the road direction, It is automatically determined from four types of parking, left side parallel parking, and right side parallel parking.
[0016]
  Claim 9The means described inClaim 1In the parking type determination device according to claim 1, the surrounding situation acquisition means further acquires the vehicle direction with respect to the parking frame direction together with the positive and negative types, and the parking type determination means further determines the vehicle direction with respect to the parking frame direction as positive and negative. According to the classification, it is automatically determined from four types of left side parallel parking, right side parallel parking, left side parallel parking, and right side parallel parking.
[0017]
  Claim 10The means described inClaims 1 to 9In the parking type determination device according to any one of the above, the parking intention acquisition means outputs a signal indicating that the driver is operating the parking vehicle with a reverse operation.
[0018]
[Operation and effect of the invention]
  According to the present invention, since it is automatically determined whether the driver has entered the parking operation or by the driver's operation, whether the parking is parallel parking or parallel parking is automatically determined. For example, the parking type can be accurately output to a parking assistance system such as a voice guide without selecting whether the vehicle is parked. If the rectangular parking frame direction can be recognized, it is most appropriate to automatically determine whether it is parallel parking or parallel parking. If the road direction can be recognized, it is unlikely that parallel parking is performed at a small angle with respect to the road direction, so the final determination that the parking is parallel parking is possible. If you can determine whether it is on the road even if you do not have any of them, the probability of parallel parking is high on the road, and the probability of parallel parking is high if it is not on the road, so it is on the road Parallel parking and parallel parking may be determined by determining whether or not there is a vehicle.
[0019]
  If the distance from the left and right road ends can be determined, in addition to the types of parallel parking and parallel parking, it is possible to determine four types of left or right parallel parking and left or right parallel parking. Similarly left and right parking framesWhenIf the distance can be determined, four types of determination can be made in the same manner. If the vehicle direction with respect to the road direction is acquired together with the positive and negative types, four types of determinations of left or right parallel parking and left or right parallel parking can be performed. Similarly, if the vehicle direction with respect to the parking frame direction is acquired together with the positive and negative types, four types of determinations of left or right parallel parking and left or right parallel parking can be performed. Further, the parking will acquisition means may determine that the parking operation is being performed, for example, by a reverse operation.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
  Hereinafter, specific examples of the present invention will be described.
[0021]
[Comprehensive explanation]
  FIG. 1 is a comprehensive conceptual diagram of the present invention, and does not show one parking type determination device having all individual acquisition means and determination steps. The individual parking type determination device having either the individual acquisition means or the determination step will be described again below with reference to FIG. Again, FIG. 1 is a comprehensive conceptual diagram of the present invention and does not show one parking type determination device.
[0022]
  First, a signal indicating that the parking operation is being performed is sent from the parking will acquisition unit 1 to the surrounding state acquisition unit 200. After that, the surrounding situation acquisition unit 200 outputs a signal related to the surrounding situation to the parking type determination unit 300. The signal may be one continuous signal, or may be a plurality of signals having different input / output locations or different output timings. The parking type determination means 300 determines the parking type based on the signal related to the surrounding situation output by the surrounding situation acquisition means 200, and outputs it to a parking assistance system such as a voice guide.
[0023]
  The peripheral situation acquisition means 200 is mainly composed of one or more acquisition means from the following three types. The own vehicle position etc. acquiring means 2a as the first acquiring means outputs whether the position of the own vehicle is on the road or not on the road. Or you may output whether it is a parking area or a parking area. Hereinafter, the case where it is on the road and the case where it is not the parking area will be simply referred to as on the road, and the case where it is not on the road and the case where it is the parking area will be simply referred to as not being on the road. The determination is a place P.
[0024]
  The vehicle orientation acquisition unit 2b as the second acquisition unit recognizes the road edge or the road direction, and the angle φ between the direction of the road edge or the road direction and the vehicle direction₁Furthermore, the distance d between the vehicle and the road edge₁Is something to get. Further, the parking frame host vehicle posture acquisition unit 2c, which is the third acquisition unit, recognizes the parking frame direction, and an angle φ formed by the parking frame direction and the host vehicle direction.₂Furthermore, the distance d between the host vehicle and the parking frame, for example, its center line₂Is something to get.
[0025]
  The surrounding situation acquisition unit 200 includes at least one of the three acquisition units of the host vehicle position acquisition unit 2a, the road host vehicle posture acquisition unit 2b, and the parking frame host vehicle posture acquisition unit 2c. The parking type determination unit 300 includes a parking location determination step 3a when the surrounding situation acquisition unit 200 includes the own vehicle position acquisition unit 2a and a signal of the location P is output. In the parking type determination means 300, the surrounding situation acquisition means 200 has the vehicle orientation acquisition means 2b for the road, and the angle φ₁When the signal is output, the vehicle has a parking posture determination step 3b. In the parking type determination unit 300, the surrounding situation acquisition unit 200 includes a parking frame own vehicle posture acquisition unit 2c, and the angle φ₂When the signal is output, it has a parking frame parking posture determination step 3c. In the following, except for the case where positive and negative are indicated, the angle φ₁, Φ₂Is not output as a negative value, but is treated as 0 or a positive value. Of this applicationClaim 8 or 9As for the case corresponding to the invention according to the angle φ₁, Φ₂Angle φ 'corresponding to each₁, Φ '₂Is displayed.
[0026]
  When the parking type determination means 300 has the parking frame parking posture determination step 3c, the output is the final determination of the parking type. That is, in the parking frame parking posture determination step 3c, the angle φ₂Is the predetermined angle φ_th2If it is less than parallel parking and angle φ₂Is the predetermined angle φ_th2When it is above, it is determined as parallel parking.
[0027]
  When the parking type determination means 300 has the road parking posture determination step 3b, the angle φ in the road parking posture determination step 3b₁Is the predetermined angle φ_th1If it is less than that, it is determined as parallel parking. This is the final determination regardless of whether the parking type determination means 300 has the parking place determination step 3a or the parking frame parking posture determination step 3c. If the parking type determination means 300 has the road parking posture determination step 3b and does not have the parking frame parking posture determination step 3c, the angle φ in the road parking posture determination step 3b.₁Is the predetermined angle φ_th1When it is above, it is finally determined as parallel parking. On the other hand, when the parking type determination means 300 includes the anti-road parking posture determination step 3b and the anti-parking frame parking posture determination step 3c, the angle φ in the anti-road parking posture determination step 3b.₁Is the predetermined angle φ_th1In the case of the above, the final determination is subsequently made in the parking frame parking posture determination step 3c.
[0028]
  The case where the parking type determination means 300 includes the parking place determination step 3a is further complicated. When the parking type determination means 300 has the parking location determination step 3a and the anti-road parking posture determination step 3b, if the location P is on the road in the parking location determination step 3a, the next determination is made in the anti-road parking posture determination step 3b. Is done. When the parking type determination means 300 has the parking location determination step 3a and the parking frame parking posture determination step 3c, if the location P is not on the road in the parking location determination step 3a, the next step is the parking frame parking posture determination step 3c. Is determined.
[0029]
  When the parking type determination means 300 has the parking place determination step 3a and does not have the anti-road parking posture determination step 3b, parallel parking is output as the parking type when the place P is on the road in the parking place determination step 3a. This is the final decision. When the parking type determination means 300 has the parking location determination step 3a and does not have the parking frame parking posture determination step 3c, parallel parking is performed as the parking type when the location P is not on the road in the parking location determination step 3a. This is the final decision.
[0030]
[When it can be judged by whether it is on the road]
  2 and 3 show examples of parallel parking and parallel parking. FIG. 2 shows that the host vehicle is in the past position P_pastTo current position P_nowThe figure shows a state in which the vehicle is parked in the parallel parking frame on the left side of the road after performing a reverse operation after going straight ahead. FIG. 3 shows that the host vehicle is in the past position P_pastTo current position P_nowThe figure shows a state in which the vehicle is parked in a parallel parking frame on the left side of the road after performing a reverse operation after turning right after turning straight. As shown in FIG. 2, parallel parking is generally performed on the road and its vicinity.soAs in Figure 3InIn general, parallel parking is generally performed in a parking lot that is not on the road. Therefore, it is possible to configure a parking type determination device that has the own vehicle position acquisition means 2a and determines the parking type based on whether or not the position of the own vehicle is on the road.
[0031]
  Next, examples of the configuration of the vehicle position etc. acquiring means 2a are shown in FIGS. FIG. 4 is a configuration diagram of the vehicle position etc. acquisition means 2 a configured by the GPS device 201, the vehicle position estimation device 211, and the road map data 22. The vehicle position etc. acquiring means in FIG. 4 refers to the position information of the GPS device 201 with the road map data 22 in the vehicle position estimation device 211, estimates whether or not the vehicle is on the road, Is output to the parking location determination step 3a of the parking type determination means 300.
[0032]
  FIG. 5 is a configuration diagram of the vehicle position etc. acquisition means 2a configured by the GPS device 201, the travel locus storage device 23, and the vehicle position estimation device 212. The own vehicle position etc. acquiring means in FIG. 5 stores the position information of the GPS device 201 as a travel locus in the travel locus storage device 23, and whether the travel locus is unnatural on the road in the own vehicle position estimation device 211. By determining whether or not the vehicle is on the road, a signal is output to the parking location determination step 3a of the parking type determination means 300. 6 is obtained by replacing the GPS device 201 of the own vehicle position etc. acquiring means of FIG.
[0033]
  The operation of the vehicle position etc. acquiring means in FIG. 4 can be understood as shown in FIG. 7, for example. That is, data is read from the GPS device 201 and the road map data 22, and a map as shown in FIG. The map of FIG. 7 shows that the position of the host vehicle and the road map are displayed. Thus, if the own vehicle is located at a position close to the road indicated by the road map (black circle in FIG. 7), the own vehicle position etc. obtaining means in FIG. 4 determines the parking place by using a signal that the own vehicle is on the road. Output to step 3a. On the other hand, if the host vehicle is located at a position away from the road indicated by the road map (white circle in FIG. 7), the acquisition means of the host vehicle position in FIG. 4 uses the signal that the host vehicle is not on the road as a parking place Output to decision step 3a.
[0034]
  Examples of determining whether or not the traveling locus is unnatural on the road in the vehicle position etc. acquiring means of FIGS. 5 and 6 include those shown in FIGS. 8 and 9, for example. As shown in FIG._pastTo current position P_now1Or P_now2The past position P_pastIn addition, it is assumed that the predicted travel path is determined as R from the adjacent past position data, and the current position P is within a range close to the predicted travel path R._now1If there is a road, if it is on the road, the current position P_now2If there is, it is presumed that it is not on the road, and it outputs to the parking place determination step 3a as a signal to that effect. Alternatively, as shown in FIG. 9, when there is a turn of 180 degrees or a large angle during a certain time or a certain distance, the current position P_nowAre estimated not to be on the road, and are output to the parking place determination step 3a as signals to that effect.
[0035]
[When the angle between the road direction and the vehicle direction is important]
  The example which cannot determine whether it is parallel parking or parallel parking by whether it is on a road is shown in FIG. 10, FIG. FIG. 10 shows parallel parking on a road, and FIG. 11 shows parallel parking in a parking lot. That is, as shown in FIG. 10, there is a case where parking is parallel on the road even if it is oblique, and in order to effectively use the parking lot as shown in FIG. 11, there is a parallel parking frame in the parking lot. Exists.
[0036]
[When using a parking attitude toward the road]
  Accordingly, FIGS. 12 to 16 show the configuration of the vehicle orientation acquisition means 2b for the road for accurately determining the case of parallel parking as shown in FIG. 10 on the road.
[0037]
  FIG. 12 is a configuration diagram of the anti-vehicle own vehicle posture acquisition means 2 b configured by the GPS device 201, the anti-vehicle own vehicle posture estimation device 241, and the road map data 22. The vehicle-to-vehicle orientation acquisition unit in FIG. 12 estimates the angle between the vehicle direction and the road direction with reference to the road map data 22 in the vehicle-to-vehicle attitude estimation device 241 with respect to the position information of the GPS device 201. The signal is output to the road parking posture determination step 3b of the parking type determination means 300.
[0038]
  FIG. 13 shows the configuration of the GPS device 201, the travel locus storage device 23, and the vehicle orientation estimation device 242 for the road, FIG. 14 shows the GPS device 201 in FIG. 13 replaced with a gyro 202, and FIG. 203, the road edge detection device 25, and the vehicle orientation estimation device 243 toward the road.
[0039]
  FIG. 16 shows the operation of the vehicle orientation acquisition means for the road shown in FIG. The data is read from the GPS device 201 and the road map data 22, and the road direction D as shown in FIG._roadAnd the current position P_nowVehicle direction D at_nowAnd the angle φ formed by them₁Is output. In the vehicle-to-road orientation acquisition means in FIG. 12, the distance d from the road end RE₁May be output. At this time, the distance to the near side of both the left and right road ends may be output with the distance from the left road end as positive and the distance from the right road end as negative.
[0040]
  FIG. 17 shows the operation of the vehicle orientation acquisition means for the road shown in FIGS. From the travel locus, the past position P a certain time ago_pastVehicle direction D at_pastIs recognized as a road direction and the current position P_nowVehicle direction D at_nowThe angle φ formed with₁Is output.
[0041]
  FIG. 18 shows the operation of the vehicle orientation acquisition means for the road shown in FIG. The road edge RE is detected in the image from the imaging device 203 and the road edge detection device 25 as shown in FIG._REAnd vehicle direction D_nowThat is, the angle φ between the road direction and the vehicle direction φ₁Is calculated. In the vehicle-to-road posture acquisition means in FIG. 15, the distance d from the road end RE.₁May be output. At this time, the distance to the near side of both the left and right road ends may be output with the distance from the left road end as positive and the distance from the right road end as negative.
[0042]
  In order to detect the road edge RE in the image, for example, image processing as shown in FIG. 19 is sequentially performed. An image is acquired by the imaging device, and distortion is corrected ((a) of FIG. 19). Next, one side edge WL of the white line₁, WL₂,... Are extracted (FIG. 19B). Next, one edge WL of the extracted white line₁, WL₂Road end direction D from the equation for the coordinates in the image of_REAnd vehicle direction D_nowThat is, the angle φ between the road direction and the vehicle direction φ₁, And distance d from road edge RE if necessary₁Is calculated.
[0043]
  Above is the angle φ between the road direction and the vehicle direction₁Is described as not having a positive or negative sign, but φ 'is a positive and negative sign as an angle formed by the road direction and the vehicle direction.₁Can be used to more easily discriminate four types of parking. That is, as shown in FIG. 20, the angle φ ′ formed between the road direction and the host vehicle direction with the direction in the host vehicle direction being positive in the clockwise direction.₁If it is positive and the absolute value is small, left side parallel parking, if it is positive and the absolute value is large, left side parallel parking, if it is negative and the absolute value is small, right side parallel parking, negative and absolute value If it is large, it is determined that the vehicle is on the right side parallel parking.
[0044]
[When using the parking frame parking posture]
  It is also possible to detect the parking frame and detect the direction of the host vehicle with respect to the parking frame direction in substantially the same manner as the configuration of FIGS. FIG. 21 is a configuration example of the anti-parking vehicle own vehicle posture acquisition unit 2c having a configuration similar to the anti-road vehicle posture acquisition unit shown in FIG. A GPS device 201, a parking frame host vehicle posture estimation device 261, and parking lot data 27 are included. From the GPS device 201 and the parking lot data 27, an angle φ formed by the direction of the parking frame and the direction of the vehicle, which is expected to be a parking target point₂Is calculated. FIG. 22 is a configuration example of the anti-parking vehicle own vehicle posture acquisition unit 2c having a configuration similar to the anti-road vehicle posture acquisition unit shown in FIG. Imaging device 203, parking frame detectionDevice 28The parking frame own vehicle posture estimation device 262 is configured. Imaging device 203 and parking frame detectionDevice 28Detects the parking frame expected to be the parking target point, and the angle φ between the direction of the parking frame and the direction of the vehicle₂Is calculated. And, if necessary, the distance to the parking frame, for example the distance d to the parking frame center line₂Is calculated. Distance d from parking frame center line₂23 is shown in FIG. 23 as in FIG.
[0045]
  Above is the angle φ between the parking frame direction and the vehicle direction₂Is described as not having a positive or negative sign, but φ 'with a positive or negative sign as an angle formed by the parking frame direction and the vehicle direction.₂Can be used to more easily discriminate four types of parking. That is, as shown in FIG. 24, the vehicle is directed in the direction of the host vehicle, and the clockwise direction is positive.Parking frameAngle φ 'formed by direction and own vehicle direction₂If it is positive and the absolute value is small, left side parallel parking, if it is positive and the absolute value is large, left side parallel parking, if it is negative and the absolute value is small, right side parallel parking, negative and absolute value If it is large, it is determined that the vehicle is on the right side parallel parking.
[0046]
[First example of parking type determination means]
  The 1st example of the step structure of the parking kind discrimination | determination means 300 is shown in FIG. The example of FIG. 25 is a case where the parking type determination unit 300 has all the parking place determination step 3a, the road parking posture determination step 3b, and the parking frame parking posture determination step 3c. In this case, the surrounding situation acquisition unit 200 also needs to include all of the own vehicle position acquisition unit 2a, the anti-road vehicle posture acquisition unit 2b, and the anti-parking frame vehicle acquisition unit 2c.
[0047]
  First, in the parking place determination step 3a, it is determined whether or not the place P of the host vehicle is on the road. If the location P of the host vehicle is on the road, the process proceeds to a parking posture determination step 3b. If the location P of the host vehicle is not on the road, the process proceeds to a parking frame parking posture determination step 3c.
[0048]
  In the parking attitude determination step 3b, the angle φ formed by the direction of the host vehicle and the road direction or the road edge direction₁Is the predetermined angle φ_th1Whether it is less than is determined. Angle φ between own vehicle direction and road direction or road edge direction₁Is the predetermined angle φ_th1If it is less than that, the parking type determination means 300 finally determines that the parking is parallel parking, and outputs that the parking is parallel parking. Angle φ between own vehicle direction and road direction or road edge direction₁Is the predetermined angle φ_th1If not, the process proceeds to the parking frame parking posture determination step 3c.
[0049]
  In the parking frame parking posture determination step 3c, an angle φ formed by the direction of the host vehicle and the parking frame direction₂Is the predetermined angle φ_th2Whether it is less than is determined. Angle φ between own vehicle direction and parking frame direction₂Is the predetermined angle φ_th2If it is less than that, the parking type determination means 300 finally determines that the parking is parallel parking, and outputs that the parking is parallel parking. Angle φ between own vehicle direction and parking frame direction₂Is the predetermined angle φ_th2If it is not less, the parking type determination means 300 finally determines that the parking is parallel parking, and outputs that the parking is parallel parking.
[0050]
  Thus, this exampleClaim 5This corresponds to an example of the step configuration of the parking type determination means in the invention according to the invention.
[0051]
[Second example of parking type determination means]
  A second example of the step configuration of the parking type determination means 300 is shown in FIG. The example of FIG. 26 is a case where the parking type determination means 300 has only the parking place determination step 3a. In this case, the surrounding situation acquisition unit 200 needs to include at least the own vehicle position acquisition unit 2a.
[0052]
  First, in the parking place determination step 3a, it is determined whether or not the place P of the host vehicle is on the road. If the location P of the host vehicle is on the road, the parking type determination means 300 finally determines that the parking is parallel parking, and outputs that the parking is parallel parking. If the place P of the host vehicle is not on the road, the parking type determination means 300 finally determines that the parking is parallel parking, and outputs that the parking is parallel parking.
[0053]
  Thus, this exampleHas only the first featureThis corresponds to an example of the step configuration of the parking type determination means.
[0054]
[Third example of parking type determination means]
  A third example of the step configuration of the parking type determination means 300 is shown in FIG. The example of FIG. 27 is a case where the parking type determination unit 300 has a parking place determination step 3a and a road parking posture determination step 3b and does not have a parking frame parking posture determination step 3c. In this case, the surrounding situation acquisition unit 200 also needs to include the own vehicle position etc. acquisition unit 2a and the own vehicle attitude acquisition unit 2b.
[0055]
  First, in the parking place determination step 3a, it is determined whether or not the place P of the host vehicle is on the road. If the location P of the host vehicle is on the road, the process proceeds to an anti-road parking posture determination step 3b. Outputs that parking is in progress.
[0056]
  In the parking attitude determination step 3b, the angle φ formed by the direction of the host vehicle and the road direction or the road edge direction₁Is the predetermined angle φ_th1Whether it is less than is determined. Angle φ between own vehicle direction and road direction or road edge direction₁Is the predetermined angle φ_th1If it is less than that, the parking type determination means 300 finally determines that the parking is parallel parking, and outputs that the parking is parallel parking. Angle φ between own vehicle direction and road direction or road edge direction₁Is the predetermined angle φ_th1If it is not less than that, the parking type discriminating means 300 finally determines that it is parallel parking, and outputs that it is parallel parking.
[0057]
  Thus, this exampleClaim 2This corresponds to an example of the step configuration of the parking type determination means in the invention according to the invention.
[0058]
[Fourth example of parking type determination means]
  A fourth example of the step configuration of the parking type determination means 300 is shown in FIG. The example of FIG. 28 is a case where the parking type determination means 300 has a parking place determination step 3a and a parking frame parking posture determination step 3c, but does not have a parking road posture determination step 3b. In this case, the surrounding situation acquisition unit 200 also needs to include the own vehicle position etc. acquisition unit 2a and the parking frame own vehicle posture acquisition unit 2c.
[0059]
  First, in the parking place determination step 3a, it is determined whether or not the place P of the host vehicle is on the road. If the location P of the host vehicle is on the road, the parking type determination means 300 finally determines that the parking is parallel parking, and outputs that the parking is parallel parking. If the location P of the host vehicle is not on the road, the process proceeds to the parking frame parking posture determination step 3c.
[0060]
  In the parking frame parking posture determination step 3c, an angle φ formed by the direction of the host vehicle and the parking frame direction₂Is the predetermined angle φ_th2Whether it is less than is determined. Angle φ between own vehicle direction and parking frame direction₂Is the predetermined angle φ_th2If it is less than that, the parking type determination means 300 finally determines that the parking is parallel parking, and outputs that the parking is parallel parking. Angle φ between own vehicle direction and parking frame direction₂Is the predetermined angle φ_th2If it is not less than that, the parking type discriminating means 300 finally determines that it is parallel parking, and outputs that it is parallel parking.
[0061]
  Thus, this exampleClaim 3This corresponds to an example of the step configuration of the parking type determination means in the invention according to the invention.
[0062]
[Fifth example of parking type determination means]
  A fifth example of the step configuration of the parking type determination unit 300 is shown in FIG. The example of FIG. 29 is a case where the parking type determination unit 300 includes only the anti-road parking posture determination step 3b. In this case, the surrounding situation acquisition unit 200 also needs to have the anti-road vehicle posture acquisition unit 2b.
[0063]
  In the parking attitude determination step 3b, the angle φ formed by the direction of the host vehicle and the road direction or the road edge direction₁Is the predetermined angle φ_th1Whether it is less than is determined. Angle φ between own vehicle direction and road direction or road edge direction₁Is the predetermined angle φ_th1If it is less than that, the parking type determination means 300 finally determines that the parking is parallel parking, and outputs that the parking is parallel parking. Angle φ between own vehicle direction and road direction or road edge direction₁Is the predetermined angle φ_th1If it is not less than that, the parking type discriminating means 300 finally determines that it is parallel parking, and outputs that it is parallel parking.
[0064]
  Thus, this exampleHas only the second featureThis corresponds to an example of the step configuration of the parking type determination means.
[0065]
[Sixth example of parking type determination means]
  A sixth example of the step configuration of the parking type determination means 300 is shown in FIG. The example of FIG. 30 is a case where the parking type determination means 300 has only the parking frame parking posture determination step 3c. In this case, the surrounding situation acquisition unit 200 also needs to include the parking frame own vehicle posture acquisition unit 2c.
[0066]
  In the parking frame parking posture determination step 3c, an angle φ formed by the direction of the host vehicle and the parking frame direction₂Is the predetermined angle φ_th2Whether it is less than is determined. Angle φ between own vehicle direction and parking frame direction₂Is the predetermined angle φ_th2If it is less than that, the parking type determination means 300 finally determines that the parking is parallel parking, and outputs that the parking is parallel parking. Angle φ between own vehicle direction and parking frame direction₂Is the predetermined angle φ_th2If it is not less than that, the parking type discriminating means 300 finally determines that it is parallel parking, and outputs that it is parallel parking.
[0067]
  Thus, this exampleClaim 1This corresponds to an example of the step configuration of the parking type determination means in the invention according to the invention.
[0068]
[Seventh example of parking type determination means]
  A seventh example of the step configuration of the parking type determination means 300 is shown in FIG. The example of FIG. 31 is a case where the parking type determination means 300 includes an anti-road parking posture determination step 3b and an anti-parking frame parking posture determination step 3c. In this case, the surrounding situation acquisition unit 200 also needs to include the anti-road vehicle posture acquisition unit 2b and the anti-parking frame vehicle acquisition unit 2c.
[0069]
  First, in the parking posture determination step 3b, an angle φ formed by the direction of the own vehicle and the road direction or the road edge direction.₁Is the predetermined angle φ_th1Whether it is less than is determined. Angle φ between own vehicle direction and road direction or road edge direction₁Is the predetermined angle φ_th1If it is less than that, the parking type determination means 300 finally determines that the parking is parallel parking, and outputs that the parking is parallel parking. Angle φ between own vehicle direction and road direction or road edge direction₁Is the predetermined angle φ_th1If not, the process proceeds to the parking frame parking posture determination step 3c.
[0070]
  In the parking frame parking posture determination step 3c, an angle φ formed by the direction of the host vehicle and the parking frame direction₂Is the predetermined angle φ_th2Whether it is less than is determined. Angle φ between own vehicle direction and parking frame direction₂Is the predetermined angle φ_th2If it is less than that, the parking type determination means 300 finally determines that the parking is parallel parking, and outputs that the parking is parallel parking. Angle φ between own vehicle direction and parking frame direction₂Is the predetermined angle φ_th2If it is not less than that, the parking type discriminating means 300 finally determines that it is parallel parking, and outputs that it is parallel parking.
[0071]
  Thus, this exampleClaim 4This corresponds to an example of the step configuration of the parking type determination means in the invention according to the invention.
[0072]
[Eighth example of parking type determination means]
  An eighth example of the step configuration of the parking type determination means 300 is shown in FIG. The example of FIG. 32 is a case where the parking type determination means 300 has three anti-road parking posture determination steps 3b1, 3b2, and 3b3. In this case, the surrounding situation acquisition unit 200 also needs to have the vehicle orientation acquisition unit 2b with respect to the road, and the output is an angle φ formed between the vehicle direction and the road direction or the road edge direction.₁And the distance d from the road edge while showing the left and right as positive and negative₁Must be output. D₁The distance from the left-hand road edge when d is positive, d₁If is negative, the distance to the right-hand road edge is used.
[0073]
  First, in the parking attitude determination step 3b1, the angle φ formed by the own vehicle direction and the road direction or the road edge direction₁Is the predetermined angle φ_th1Whether it is less than is determined. Angle φ between own vehicle direction and road direction or road edge direction₁Is the predetermined angle φ_th1If it is less than that, it is temporarily determined that the parking is parallel parking, and the process proceeds to the anti-road parking posture determination step 3b2. Angle φ between own vehicle direction and road direction or road edge direction₁Is the predetermined angle φ_th1If it is not less, it is temporarily determined that the parking is parallel parking, and the process proceeds to the anti-road parking posture determination step 3b3.
[0074]
  Distance to road edge d in road parking posture determination step 3b2₁Is positive, that is, when the vehicle is moving backward toward the left road end, the parking type determination means 300 finally determines that the vehicle is left side parallel parking, and outputs that the vehicle is left side parallel parking. Distance d to road edge₁Is negative, that is, when the vehicle is moving backward toward the right road end, the parking type determination means 300 finally determines that it is right side parallel parking, and outputs that it is right side parallel parking.
[0075]
  Distance to road edge in road parking posture determination step 3b3₁Is positive, that is, when the vehicle is moving backward toward the left road end, the parking type determination means 300 finally determines that the parking is left side parallel parking, and outputs that the parking is left side parallel parking. Distance d to road edge₁Is negative, that is, when moving backward toward the right road end, the parking type determination means 300 finally determines that it is right side parallel parking, and outputs that it is right side parallel parking.
[0076]
  Thus, this exampleClaim 6This corresponds to an example of the step configuration of the parking type determination means in the invention according to the invention.
[0077]
[Ninth example of parking type determination means]
  A ninth example of the step configuration of the parking type determination means 300 is shown in FIG. The example of FIG. 33 is a case where the parking type determination unit 300 includes three parking frame parking posture determination steps 3c1, 3c2, and 3c3. In this case, the surrounding situation acquisition unit 200 also needs to have the parking frame own vehicle posture acquisition unit 2c, and the output is an angle φ formed by the host vehicle direction and the parking frame direction or the parking frame center direction.₂And the left and right are shown as positive and negative and the parking frame center lineWhenDistance d₂Must be output. D₂Is the distance from the left parking frame center line when d is positive, d₂When the is negative, the distance from the center line of the right parking frame is used.
[0078]
  First, parking frame parking posture determination step 3c₂The angle φ between the direction of the vehicle and the parking frame direction or the parking frame center line direction₂Is the predetermined angle φ_th2Whether it is less than is determined. Angle φ between own vehicle direction and parking frame direction or parking frame center line direction₂Is the predetermined angle φ_th2If it is less than that, it is temporarily determined that the parking is parallel parking, and the process proceeds to the parking frame parking posture determination step 3c2. Angle φ between own vehicle direction and parking frame direction or parking frame center line direction₂Is the predetermined angle φ_th2If it is not less than that, it is temporarily determined that the parking is parallel parking, and the process proceeds to the parking frame parking posture determination step 3c3.
[0079]
  Distance d from parking frame center line in parking frame parking posture determination step 3c2₂Is positive, that is, when the vehicle moves backward toward the left parking frame center line, the parking type determination means 300 finally determines that it is left column parking, and outputs that it is left column parking. Distance d from parking frame center line₂Is negative, that is, when the vehicle moves backward toward the right parking frame center line, the parking type determination means 300 finally determines that it is right column parking, and outputs that it is right column parking.
[0080]
  Distance to parking frame center line in parking frame parking posture determination step 3c3₂Is positive, that is, when the vehicle moves backward toward the left parking frame center line, the parking type determination means 300 finally determines that it is left side parallel parking, and outputs that it is left side parallel parking. Distance d from parking frame center line₂Is negative, that is, when moving backward toward the right parking frame center line, the parking type determination means 300 finally determines that it is right side parallel parking, and outputs that it is right side parallel parking.
[0081]
  Thus, this exampleClaim 7This corresponds to an example of the step configuration of the parking type determination means in the invention according to the invention.
[0082]
[Tenth example of parking type determination means]
  A tenth example of the step configuration of the parking type determination means 300 is shown in FIG. The example of FIG. 34 is a case where the parking type determination means 300 has three anti-road parking posture determination steps 3b4, 3b5 and 3b6. In this case, the surrounding situation acquisition unit 200 also needs to have the vehicle orientation acquisition unit 2b with respect to the road, and the output is an angle φ ′ formed between the vehicle direction and the road direction or the road edge direction.₁Must be indicated with a positive or negative sign. In the following, when the vehicle direction (front direction) is clockwise with respect to the road direction (no direction), φ '₁Is positive and counterclockwise when φ '₁Is negative.
[0083]
  First, in the parking posture determination step 3b4, an angle φ ′ formed by the direction of the own vehicle and the road direction or the road edge direction.₁Is determined to be positive or negative. Angle φ '₁Is positive, that is, when the vehicle is moving backward toward the left side of the road, the angle φ ′₁Is negative, that is, when the vehicle goes backward toward the right road end, the process proceeds to the anti-road parking posture determination step 3b6.
[0084]
  In the road parking posture determination step 3b5, the angle φ ′₁The absolute value of_th1If it is less than that, the parking type discriminating means 300 finally determines that it is left side parallel parking, and outputs that it is left side parallel parking. Also, the angle φ '₁The absolute value of_th1If it is above, the parking type discrimination | determination means 300 will carry out final determination with left side parallel parking, and will output that it is left side parallel parking.
[0085]
  In the parking posture determination step 3b6, the angle φ ′₁The absolute value of_th1If it is less than this, the parking type discrimination means 300 will make the final determination as right-side parallel parking, and will output that it is right-side parallel parking. Also, the angle φ '₁The absolute value of_th1If it is above, parking type discrimination means 300 will make the final determination as right side parallel parking, and outputs that it is right side parallel parking.
[0086]
  Thus, this exampleClaim 8This corresponds to an example of the step configuration of the parking type determination means in the invention according to the invention.
[0087]
[Eleventh example of parking type determination means]
  Step type of parking type discrimination means 300EleventhAn example is shown in FIG. The example of FIG. 35 is a case where the parking type determination unit 300 includes three parking frame parking posture determination steps 3c4, 3c5, and 3c6. In this case, the surrounding situation acquisition unit 200 also needs to have the parking frame own vehicle posture acquisition unit 2c, and the output is an angle φ ′ formed by the own vehicle direction and the parking frame direction or the parking frame center line direction.₂Must be indicated with a positive or negative sign. Hereinafter, when the direction of the vehicle (front direction) is clockwise with respect to the parking frame direction (no direction), φ ′₂Is positive and counterclockwise when φ '₂Is negative.
[0088]
  First, in the parking frame parking posture determination step 3c4, an angle φ ′ formed by the own vehicle direction and the parking frame direction or the parking frame center line direction.₂Is determined to be positive or negative. Angle φ '₂Is positive, that is, when the vehicle moves backward toward the left parking frame center line, the angle φ ′₂Is negative, that is, when moving backward toward the right parking frame center line, the process proceeds to the parking frame parking posture determination step 3c6.
[0089]
  In the parking frame parking posture determination step 3c5, the angle φ ′₂The absolute value of_th2If it is less than that, the parking type discriminating means 300 finally determines that it is left side parallel parking, and outputs that it is left side parallel parking. Also, the angle φ '₂The absolute value of_th2If it is above, the parking type discrimination | determination means 300 will carry out final determination with left side parallel parking, and will output that it is left side parallel parking.
[0090]
  In the parking frame parking posture determination step 3c6, the angle φ ′₂The absolute value of_th2If it is less than this, the parking type discrimination means 300 will make the final determination as right-side parallel parking, and will output that it is right-side parallel parking. Also, the angle φ '₂The absolute value of_th2If it is above, parking type discrimination means 300 will make the final determination as right side parallel parking, and outputs that it is right side parallel parking.
[0091]
  Thus, this exampleClaim 9This corresponds to an example of the step configuration of the parking type determination means in the invention according to the invention.
[0092]
  4 to 9 and FIGS. 12 to 24 show embodiments of the peripheral status acquisition means of the invention according to each claim of the present application, and FIGS. 25 to 35 show the embodiment of the invention according to each claim of the present application. Although the example of the flowchart of the part of a parking kind determination means was shown, this invention is not limited to these. The invention of the present application includes, for example, a device that automatically determines that the parking operation is being performed by going backward, and automatically determines the type of parking that is being operated when there is no operation by the driver or when there is no detailed instruction. Is done. The driver's operation indicating parking here is, for example, by pressing a parking support request switch, or by pressing a parallel parking or parallel parking support request switch. This parking assistance means an audio guide for the steering angle. In addition, it is also included in the present invention that a determination result reversal switch is provided so that the driver reverses the determination result of the parallel parking or the parallel parking in each of the above embodiments to the parallel parking or the parallel parking.
[Brief description of the drawings]
FIG. 1 is a comprehensive conceptual diagram of the present invention.
FIG. 2 is a diagram showing parallel parking.
FIG. 3 is a diagram showing parallel parking.
FIG. 4 is a configuration diagram of a vehicle position etc. acquiring unit.
FIG. 5 is another configuration diagram of the vehicle position etc. acquiring means.
FIG. 6 is still another configuration diagram of the vehicle position etc. acquiring means.
7 is a map created inside the vehicle position etc. acquisition means of FIG. 4;
FIG. 8 is an explanatory diagram showing the operation of the vehicle position etc. acquiring means of FIGS. 5 and 6;
FIG. 9 is another explanatory diagram showing the operation of the vehicle position etc. acquiring means of FIGS. 5 and 6;
FIG. 10 is a diagram showing parallel parking on a road.
FIG. 11 is a diagram showing parallel parking in a parking lot.
FIG. 12 is a block diagram of the vehicle attitude acquisition means for the road.
FIG. 13 is another configuration diagram of the vehicle orientation acquisition means for the road.
FIG. 14 is still another block diagram of the vehicle orientation acquisition means for the road.
FIG. 15 is still another configuration diagram of the vehicle orientation acquisition means for the road.
16 is a map created inside the vehicle attitude acquisition means for the road in FIG.
FIG. 17 is an explanatory diagram showing the operation of the vehicle-to-road posture acquisition means of FIGS. 13 and 14;
18 is an explanatory diagram showing the operation of the vehicle-to-road posture acquisition means of FIG.
19 is an explanatory view showing image processing contents of the vehicle-to-road posture acquisition means of FIG.
FIG. 20Explanatory drawing which shows the effect | action of another anti-vehicle own vehicle attitude | position acquisition means.
FIG. 21The block diagram of a parking frame own vehicle attitude | position acquisition means.
FIG. 22The other block diagram of a parking frame own vehicle attitude | position acquisition means.
FIG. 23Explanatory drawing which shows the effect | action of a parking frame own vehicle attitude | position acquisition means.
FIG. 24otherExplanatory drawing which shows the effect | action of the parking frame own vehicle attitude | position acquisition means.
FIG. 25 is a flowchart of a first example of parking type determination means;
FIG. 26 is a flowchart of a second example of parking type determination means.
FIG. 27 is a flowchart of a third example of parking type determination means;
FIG. 28 is a flowchart of a fourth example of parking type determination means.
FIG. 29 is a flowchart of a fifth example of parking type determination means.
FIG. 30 is a flowchart of a sixth example of parking type determination means;
FIG. 31 is a flowchart of a seventh example of parking type determination means;
FIG. 32 is a flowchart of an eighth example of parking type determination means;
FIG. 33 is a flowchart of a ninth example of parking type determination means;
FIG. 34 is a flowchart of a tenth example of parking type determination means.
FIG. 35 is a flowchart of an eleventh example of parking type determination means.
[Explanation of symbols]
D_road  Road direction
D_now  The direction of the vehicle at the current position
D_past  The direction of the vehicle at the past position
D_RE  Road edge direction
d₁  The distance between the vehicle's specified position and the road edge
P place (place of own vehicle)
P_now, P_now1, P_now2  Current vehicle position
P_past   Past vehicle position
R Expected road
WL₁, WL₂  One edge line of white line on the image
φ₁  The angle between the direction of the vehicle and the road direction or the road edge direction
φ₂  The angle between the direction of the vehicle and the parking frame direction
1 Parking will acquisition means
2a Own vehicle position acquisition means
2b Self-vehicle posture acquisition means
2c Parking frame own vehicle attitude acquisition means
3a Parking place judgment step
3b Anti-road parking posture determination step
3c Parking frame parking posture determination step
200 Peripheral situation acquisition means
201 GPS device
202 Gyro
203 Imaging device
211, 212 Own vehicle position estimation device
22 Road map data
23 Running track storage device
241, 242, 243 Vehicle orientation estimation device for road
25 Road edge detection device
261,262 Anti-parking frame vehicle posture estimation device
27 Parking lot data
28 Parking frame detection device
300 Parking type determination means

Claims (10)

A parking type determination device that is mounted on a vehicle and determines a parking type,
A parking will acquisition means for acquiring automatically that the driver has entered the parking operation or by the driver's operation;
A surrounding situation acquisition means for receiving a signal indicating that the parking operation is being performed by the parking will acquisition means and automatically acquiring and outputting one or more vehicle surrounding conditions;
From the data of the surrounding situation acquisition means, having a parking type determination means that automatically determines whether the parking type is parallel parking or parallel parking,
The surrounding situation acquisition means includes
It automatically recognizes the parking frame and automatically obtains the vehicle direction relative to the parking frame direction.
The parking type determination means includes
When it is parallel parking when receiving a signal that the vehicle direction relative to the parking frame direction is less than a predetermined angle from the surrounding situation acquisition means,
Parked car type determining device shall be the determining means determines that it is parallel parking when the vehicle direction with respect to the parking space direction from the peripheral status acquisition unit receives a signal at a predetermined angle or more. A parking type determination device that is mounted on a vehicle and determines a parking type,
A parking will acquisition means for acquiring automatically that the driver has entered the parking operation or by the driver's operation;
A surrounding situation acquisition means for receiving a signal indicating that the parking operation is being performed by the parking will acquisition means and automatically acquiring and outputting one or more vehicle surrounding conditions;
From the data of the surrounding situation acquisition means, having a parking type determination means that automatically determines whether the parking type is parallel parking or parallel parking,
The surrounding situation acquisition means includes
Automatically determines whether the vehicle is on the road or not, and automatically recognizes the road and automatically acquires the vehicle direction relative to the road direction,
The parking type determination means includes
When the signal indicating that the vehicle is on the road and the signal that the vehicle direction with respect to the road direction is less than a predetermined angle is received from the surrounding situation acquisition means, it is parallel parking,
Parked car type determining device you characterized in that signals from the peripheral status acquisition means determines that otherwise is parallel parking. A parking type determination device that is mounted on a vehicle and determines a parking type,
A parking will acquisition means for acquiring automatically that the driver has entered the parking operation or by the driver's operation;
A surrounding situation acquisition means for receiving a signal indicating that the parking operation is being performed by the parking will acquisition means and automatically acquiring and outputting one or more vehicle surrounding conditions;
From the data of the surrounding situation acquisition means, having a parking type determination means that automatically determines whether the parking type is parallel parking or parallel parking,
The surrounding situation acquisition means includes
Automatically determines whether the vehicle is on the road or not on the road, and automatically recognizes the parking frame, and automatically acquires the vehicle direction relative to the parking frame direction,
The parking type determination means includes
When it is parallel parking when receiving a signal that the vehicle is not on the road and a signal that the vehicle direction with respect to the parking frame direction is a predetermined angle or more from the surrounding situation acquisition means,
Parked car type determining device you characterized in that signals from the peripheral status acquisition means determines that otherwise is parallel parking. A parking type determination device that is mounted on a vehicle and determines a parking type,
A parking will acquisition means for acquiring automatically that the driver has entered the parking operation or by the driver's operation ;
A surrounding situation acquisition means for receiving a signal indicating that the parking operation is being performed by the parking will acquisition means and automatically acquiring and outputting one or more vehicle surrounding conditions;
From the data of the surrounding situation acquisition means, having a parking type determination means that automatically determines whether the parking type is parallel parking or parallel parking,
The surrounding situation acquisition means includes
It automatically recognizes the road, automatically acquires the vehicle direction with respect to the road direction, and automatically recognizes the parking frame, and automatically acquires the vehicle direction with respect to the parking frame direction. ,
The parking type determination means includes
When it is parallel parking when it receives a signal that the vehicle direction with respect to the road direction is a predetermined angle or more and a signal that the vehicle direction with respect to the parking frame direction is a predetermined angle or more from the surrounding situation acquisition means
Parked car type determining device you characterized in that signals from the peripheral status acquisition means determines that otherwise is parallel parking. A parking type determination device that is mounted on a vehicle and determines a parking type,
A parking will acquisition means for acquiring automatically that the driver has entered the parking operation or by the driver's operation;
A surrounding situation acquisition means for receiving a signal indicating that the parking operation is being performed by the parking will acquisition means and automatically acquiring and outputting one or more vehicle surrounding conditions;
From the data of the surrounding situation acquisition means, having a parking type determination means that automatically determines whether the parking type is parallel parking or parallel parking,
The surrounding situation acquisition means includes
It automatically determines whether the vehicle is on the road or not on the road, automatically recognizes the road, automatically acquires the vehicle direction relative to the road direction, and automatically recognizes the parking frame. To automatically obtain the vehicle direction relative to the parking frame direction,
The parking type determination means includes
When a signal indicating that the vehicle direction relative to the parking frame direction is greater than or equal to a predetermined angle is received from the surrounding situation acquisition means, and when a signal indicating that the vehicle is not on the road is received, or the vehicle direction relative to the road direction is equal to or greater than the predetermined angle If you receive a signal that is parallel parking,
Parked car type determining device you characterized in that signals from the peripheral status acquisition means determines that otherwise is parallel parking. A parking type determination device that is mounted on a vehicle and determines a parking type,
A parking will acquisition means for acquiring automatically that the driver has entered the parking operation or by the driver's operation;
A surrounding situation acquisition means for receiving a signal indicating that the parking operation is being performed by the parking will acquisition means and automatically acquiring and outputting one or more vehicle surrounding conditions;
From the data of the surrounding situation acquisition means, having a parking type determination means that automatically determines whether the parking type is parallel parking or parallel parking,
The surrounding situation acquisition means includes
It automatically recognizes the road and automatically obtains the vehicle direction relative to the road direction.
The parking type determination means includes
When receiving a signal that the vehicle direction relative to the road direction is less than a predetermined angle from the surrounding situation acquisition means, it is parallel parking,
When receiving a signal that the vehicle direction relative to the road direction is a predetermined angle or more from the surrounding situation acquisition means, it is determined that parallel parking,
The surrounding situation acquisition means includes
Furthermore, the distance between the left and right road ends and a predetermined position of the host vehicle can be automatically acquired,
The parking type determination means, in addition to the determination of parallel parking and parallel parking, from the distance between the left and right road ends and a predetermined position of the host vehicle, left parallel parking, right parallel parking, left parallel parking, right parallel parking automatically determining parked vehicle type determining device you characterized in that of four. The surrounding situation acquisition means includes
Furthermore, the distance between the left and right parking frames and a predetermined position of the host vehicle can be automatically acquired,
In addition to the determination of the parallel parking and the parallel parking, the parking type determination means determines the left vertical parking, the right vertical parking, the left parallel parking, and the right parallel parking from the distance between the left and right parking frames and a predetermined position of the host vehicle. The parking type determination device according to claim 1 , wherein the determination is automatically made from the following four types. A parking type determination device that is mounted on a vehicle and determines a parking type,
A parking will acquisition means for acquiring automatically that the driver has entered the parking operation or by the driver's operation;
A surrounding situation acquisition means for receiving a signal indicating that the parking operation is being performed by the parking will acquisition means and automatically acquiring and outputting one or more vehicle surrounding conditions;
From the data of the surrounding situation acquisition means, having a parking type determination means that automatically determines whether the parking type is parallel parking or parallel parking,
The surrounding situation acquisition means includes
It automatically recognizes the road and automatically obtains the vehicle direction relative to the road direction.
The parking type determination means includes
When receiving a signal that the vehicle direction relative to the road direction is less than a predetermined angle from the surrounding situation acquisition means, it is parallel parking,
When receiving a signal that the vehicle direction relative to the road direction is a predetermined angle or more from the surrounding situation acquisition means, it is determined that parallel parking,
The surrounding situation acquisition means includes
Furthermore, the vehicle direction with respect to the road direction is acquired together with the positive and negative types,
The parking type determining means further determines automatically the vehicle direction relative to the road direction from four types of left-side parallel parking, right-side parallel parking, left-side parallel parking, and right-side parallel parking by combining positive and negative types. parked car type determining apparatus that. The surrounding situation acquisition means includes
Furthermore, the vehicle direction with respect to the parking frame direction is acquired together with the positive and negative types,
The parking type determination means further determines automatically the vehicle direction with respect to the parking frame direction from four types of left side parallel parking, right side parallel parking, left side parallel parking, and right side parallel parking by combining positive and negative types. The parking type determination device according to claim 1 . The parking type determination device according to any one of claims 1 to 9, wherein the parking intention acquisition means outputs a signal indicating that the driver is in the parking operation with a reverse operation. .

Images