JP5776533B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving method for leaving a parking position, and a driving assistance device that performs driving assistance for notifying a driver of a leaving route.

2. Description of the Related Art Conventionally, when parking a vehicle in a parking lot, an increasing number of parking lots encourage forward parking in order to prevent the exhaust gas emission direction from moving toward an adjacent private house. When the vehicle is parked forward in this manner, the host vehicle is driven and operated by the back travel to take the vehicle out of the parking position.
In response to such back-driving driving operation, if there is a possibility of contact at the time of backward exit, the driver is informed, and further, the driving assistance for the vehicle that instructs the driving method such as forward operation of the vehicle and turning-back operation of the steering wheel There exists an apparatus (refer patent document 1).

JP 2008-12987 A

  Therefore, in the prior art, although there is a possibility that the own vehicle may come into contact with the obstacle from the obstacles and space information around the own vehicle, it is not possible to determine the situation that is difficult to leave and the information that is easy to leave. Since free movement in the lateral direction is restricted in a vehicle, there has been a problem of informing the driver of a leaving method that is difficult to leave.

  The present invention has been made in view of such circumstances, and it is an object of the present invention to provide a driving method in which a vehicle parked in a parking area can be safely and easily output from the parking area, and a driving support device capable of guiding an output route. And

The present invention is a driving support device for supporting a delivery route when a host vehicle parked in a parking section of a parking lot exits the parking section, and includes a parking section around the host vehicle, The parking position detection means for detecting the other vehicle parked in the parking area and detecting the positional relationship of the other vehicle with respect to the surrounding parking area, and the parking area around the detected own vehicle And an exit trajectory calculating means for calculating an exit trajectory when the host vehicle exits from the parking area based on the detected other vehicle and the detected positional relationship, and the calculated exit A delivery locus display means for displaying and outputting a locus and a direction in which the host vehicle travels on a display device, and the parking position parking position detection means is adjacent to the parking section where the host vehicle is parked. Adjacent parking area The other vehicle parked in the adjacent parking area with respect to the parking area division mark for dividing the positional relationship of the parked other vehicle with respect to the adjacent parking area between the parking area where the host vehicle parks and the adjacent parking area detecting the parallelism of, characterized by and this.

  According to the present invention, a parking area around the own vehicle and other vehicles parked in the surrounding parking area are detected, and the positional relationship of the other vehicle with respect to the surrounding parking area is detected in the parking area. Based on the detected parking section around the detected host vehicle, the detected other vehicle, and the detected positional relationship, the host vehicle leaves the parking section. Since the exit locus is calculated by the exit locus calculating means, and the calculated exit locus and the traveling direction of the host vehicle are displayed on the display device by the exit locus display means, the vehicle is parked forward. There is an effect that it is possible to provide a driving support device that guides a delivery route that can be delivered safely and easily when the host vehicle exits from the parking section.

  According to the present invention, since the own vehicle that has been output and displayed on the display device by the outgoing locus display means is configured to include the outgoing locus when the outgoing vehicle exits, and the outgoing locus display change means that changes the outgoing direction, the own vehicle has There is an effect that it is possible to provide a driving support device capable of changing the exit trajectory that can be safely and easily exited from the parking section and the traveling direction according to the situation.

  According to the present invention, the parking position parking position detecting means determines the positional relationship of the other vehicle parked in the adjacent parking area adjacent to the parking area where the own vehicle is parked with respect to the adjacent parking area. Since it is configured to detect from the parallelism of other vehicles parked in the adjacent parking area with respect to the parking area division mark for dividing the parking area and the adjacent parking area, the detected parking area, The other vehicle parked in the parking area, the exit trajectory calculated based on the positional relationship of the other vehicle parked in the adjacent parking area with respect to the adjacent parking area, and the traveling direction are displayed on the display device. Therefore, a delivery route that allows safe and easy delivery in consideration of the positional relationship of the other vehicle that is parked in the adjacent parking section with respect to the adjacent parking section when the host vehicle leaves the parking section. There is an effect capable of providing a driving support device for the inner.

  According to the present invention, on the condition that the parking area around the detected own vehicle, the detected other vehicle, the detected positional relationship, and the approach route to the parking area of the own vehicle are added, Since the trajectory calculating means is configured to calculate a delivery trajectory when the host vehicle exits from the parking section, the host vehicle calculated under the condition including an approach route to the parking section of the host vehicle is There is an effect that it is possible to provide a driving support device that guides a delivery route that can be delivered safely and easily from the parking section.

It is a block diagram which shows the structure of the driving assistance apparatus of embodiment of this invention. It is a flowchart which shows operation | movement of the driving assistance device of embodiment of this invention. It is a flowchart which shows operation | movement of the driving assistance apparatus of the 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the driving assistance device of embodiment of this invention. It is a flowchart which shows operation | movement of the driving assistance device of embodiment of this invention. It is explanatory drawing which shows an example of the rear view image imaged with the view monitor camera in the driving assistance device of embodiment of this invention. It is explanatory drawing which shows an example of the image of the imaging area of the own vehicle right side imaged with the view monitor camera in the driving assistance device of embodiment of this invention. It is explanatory drawing which shows an example of the parking position relationship with respect to the parking area of the other vehicle parked in the driving assistance device of embodiment of this invention. It is explanatory drawing which shows an example of the rear view image in the driving assistance device of embodiment of this invention. It is explanatory drawing which shows an example of the rear view image in the driving assistance device of embodiment of this invention. It is explanatory drawing which shows an example of the rear view image in the driving assistance device of embodiment of this invention. It is explanatory drawing which shows an example of the parking condition in the driving assistance device of embodiment of this invention. It is explanatory drawing which shows an example of the parking condition in the driving assistance device of embodiment of this invention. It is explanatory drawing which shows an example of the parking condition in the driving assistance device of embodiment of this invention. It is explanatory drawing which shows an example of the parking condition in the driving assistance device of embodiment of this invention. It is explanatory drawing which shows an example of the parking condition in the driving assistance device of embodiment of this invention.

Embodiments of the present invention will be described below.
FIG. 1 is a block diagram showing the configuration of the driving support apparatus of this embodiment. This driving support device includes a parking position detection sensor 1, a steering wheel angle sensor 2, a vehicle speed sensor 3, an ECU 4, an alarm sound generation device 6, and a leaving locus calculation means 7, and further uses the display device 5 of the navigation device 51 as a display device. To do.
The parking position detection sensor 1 includes four view monitor cameras that image the four directions of the front, left side, right side, and rear of the host vehicle, and other vehicles that park in the right rear, left rear, and right behind parking sections of the host vehicle. Is provided.
FIG. 6 is an explanatory diagram showing a view monitor camera that captures four directions of the front, left side, right side, and rear of the vehicle, and its imaging area. This view monitor camera is composed of view monitor cameras 502, 503, 504, and 505 that image the vehicle front, the vehicle right side, the vehicle left side, and the vehicle rear around the vehicle 501 as shown in FIG. The view monitor camera 502 images an imaging area 512 in front of the vehicle 501. The view monitor camera 503 images the imaging area 513 on the right side of the vehicle 501. The view monitor camera 504 images the imaging area 514 behind the vehicle 501. The view monitor camera 505 images the imaging area 515 on the left side of the vehicle 501.
The handle angle sensor 2 detects and outputs the operation angle of the steering wheel of the host vehicle.
The vehicle speed sensor 3 detects and outputs the traveling speed of the host vehicle.
The ECU 4 includes an image synthesizing means 80, a parking position parking position detecting means 81, an exit locus display means 82, and an exit locus display change means 83.
The image synthesizing unit 80 includes an image of the imaging area 512 captured by the view monitor camera 502, an image of the imaging area 513 captured by the view monitor camera 503, an image of the imaging area 514 captured by the view monitor camera 504, and a view monitor. The images of the imaging area 515 captured by the camera 505 are combined to generate an overhead image around the host vehicle.
The parking position parking position detection means 81 performs image processing on the image around the own vehicle captured by the view monitor cameras 502, 503, 504, and 505, and the overhead view image around the own vehicle synthesized by the image synthesis means 80. Thus, the parking area dividing white line marked on the parking lot site that defines the parking area in the parking lot where the host vehicle is parked or the parking area dividing rope laid in the parking lot site is identified and detected and parked. Detect partitions. Further, when the vehicle is parked in the parking section, the parked vehicle is identified and detected, and the positional relationship of the parked vehicle with respect to the parked parking section is detected with a predetermined dimensional tolerance.
The exit trajectory display means 82 travels in the parking lot from the parking lot entrance, travel trajectory information stored in the memory until entering the parking section and parked, whether the vehicle entered the left turn when entering the parking section The exit calculated by the exit trajectory calculation means 7 when traveling from the parked parking section and exiting based on the parking section approach direction information indicating whether the vehicle has entered by turning right or entering straight. The display device 5 displays the locus, the direction of traveling backward from the parking section, and driving support information.
The exit trajectory display changing means 83 determines whether or not an operation of a change operation button for changing the direction in which the vehicle travels backward from the parking area displayed on the display device 5 is performed by the user's intention, and operates the change operation button. Is performed, the direction in which the exit trajectory from the parking section displayed on the display device 5 travels backward is changed.

FIG. 7 is an explanatory diagram illustrating an example of an image of the imaging area 513 on the right side of the host vehicle captured by the view monitor camera 503 illustrated in FIG. 6 when the host vehicle is parked forward in the parking lot of the parking lot. In FIG. 7, reference numeral 301 denotes a parking area that is marked on the parking lot site identified and detected by the parking position detection means 81 in the parking area, and that separates the adjacent parking area 402 on the right side from the parking area 401 that is parked by the host vehicle. Similarly, a section division white line and reference numeral 102 are other vehicles parked in the parking section 402 identified and detected by the parking position parking position detection means 81. Reference numeral 204 denotes a parking stop for the parking section 402. The parking position parking position detection means 81 performs image processing on the image of the imaging area 513 on the right side of the host vehicle captured by the view monitor camera 503 shown in FIG. 6, and the other vehicle 102 parks in the adjacent parking section 402. If so, the positional relationship defining parameters LRa, LRb, and LRc, which are at least three distances between the parking section division white line 301 of the parking section 402 and the other vehicle 102 parked in the parking section 402, are detected. . This positional relationship defining parameter defines the positional relationship of the other vehicle 102 parked in the parking section 402 with respect to the parking section 402. And the parking positional relationship with respect to the parking area 402 of the other vehicle 102 parked in the adjacent parking area 402 is detected as shown to FIG. 8 (a), (b), (c), for example. The parking position relationship with respect to the parking area of the other vehicle is that the other vehicle parks in the adjacent parking area with respect to the parking area dividing white line that divides between the parking area where the host vehicle parks and the adjacent parking area on the left side of the parking area. Detect from parallelism.
FIG. 8 is an explanatory diagram illustrating an example of a parking position relationship with respect to a parking section of another parked vehicle.
In the example shown in FIG. 8A, the other vehicle 102 parked in the adjacent parking section 402 is in a state where the front part is separated from the parking section 401 where the own vehicle 101 is parked with respect to the parking section 402, and the rear part is further The vehicle is parked in a form approaching the parking section 401. In other words, the other vehicle 102 in the adjacent parking section 402 is not parked in a state parallel to the parking section divided white line 301 along the parking section divided white line 301 and is parked diagonally with the rear portion facing the parking section 401. Is in a state.
In the example shown in FIG. 8B, the other vehicle 102 parked in the adjacent parking section 402 is in a state where the front part approaches the parking section 401 where the host vehicle 101 is parked with respect to the parking section 402, and the rear part. Is parked away from the parking section 401. In other words, the other vehicle 102 in the adjacent parking section 402 is not parked in a parallel state with respect to the parking section divided white line 301, and is in a state of being parked obliquely with the rear part away from the direction of the parking section 401.
In the example shown in FIG. 8C, the other vehicle 102 parked in the adjacent parking section 402 is parked in a state parallel to the parking section divided white line 301.

Further, the view monitor camera 505 shown in FIG. 6 images the imaging area 515 on the left side of the host vehicle. And the parking position parking position detection means 81 performs an image process with respect to the image of the parking area imaged with the view monitor camera 505 adjacent to the left side of the parked parking area, when the own vehicle parks in a parking area. The other vehicle is parked in the parking area division white line that separates the parking area where the host vehicle is parked from the parking area adjacent to the left side of the parking area and the parking area adjacent to the left side of the parking area where the host vehicle is parked. When it is, it is identified and detected from other vehicles. Further, positional relationship defining parameters LLa, LLb, and LLc that are at least three distances between the identified white line of the divided parking area and the other vehicle parked in the parking area adjacent to the left side of the parking area where the host vehicle is parked. To detect. And the parking position relationship with respect to the parking area of the other vehicle parked in the parking area adjacent to the left side of the parking area where the host vehicle is parked is detected as shown in FIGS. 8A, 8B, 8C, for example. To do. The parking position relationship with respect to the parking space of the other vehicle is detected from the parallelism of the other vehicle parked in the adjacent parking space with respect to the parking space dividing white line that partitions the parking space where the own vehicle is parked and the adjacent parking space. .
In the example shown in FIG. 8A, the other vehicle 103 of the adjacent parking section 403 adjacent to the left is further forward with the rear portion approaching the parking section 403 toward the parking section 401 where the host vehicle 101 is parked. Is parked in a form separated from the parking section 401. In other words, the other vehicle 103 in the adjacent parking section 403 is not parked in a state parallel to the parking section divided white line 302, and the rear portion is in an obliquely parked state approaching the direction of the parking section 401 of the host vehicle 101. .
In the example shown in FIGS. 8B and 8C, the other vehicle 103 adjacent to the left adjacent parking section 403 is back-parked, and the rear section of the parking section 401 where the own vehicle 101 is parked with respect to the parking section 403 is shown. The vehicle is parked in a state approaching the direction, and the front portion is separated from the parking section 401. In other words, the other vehicle 103 in the adjacent parking section 403 is not parked in a state parallel to the parking section divided white line 302, and the rear portion is in an obliquely parked state approaching the direction of the parking section 401 of the host vehicle 101. .

Further, the view monitor camera 504 shown in FIG. 6 images the imaging area 514 behind the host vehicle. Then, the parking position parking position detection means 81 performs image processing on an image when the imaging area 514 is imaged by the view monitor cameras 503, 504, and 505, and an overhead image around the host vehicle synthesized by the image synthesis means. In this way, the parking area dividing white line that distinguishes the parking area behind the own vehicle, that is, directly behind the own vehicle and diagonally left rear of the own vehicle, and further diagonally right rear is identified. A parking section and the presence or absence of other vehicles parked in each parking section are identified and detected. The presence / absence of other vehicles parked in each parking section can also be detected by the radar device of the parking section sheath position detection sensor 1.
FIG. 9 is an explanatory diagram illustrating an example of a rear view image in which other vehicles are not parked in the parking sections of the host vehicle, the diagonally left rear, and the diagonally right rear. In FIG. 9, reference numerals 404, 405, and 406 are parking sections, the parking section 404 is a parking section that is located immediately behind the host vehicle when the host vehicle is parked forward, and the parking section 405 is a parking section that is diagonally right rear of the host vehicle. The parking section 406 indicates a parking section diagonally left rear of the host vehicle. Further, reference numeral 303 denotes a parking section divided white line that separates the parking section 404 and the parking section 406, reference numeral 304 denotes a parking section divided white line that separates the parking section 404 and the parking section 405, and reference numerals 207 and 208 denote parking stops of the parking section 404. Indicates.
FIG. 10 shows an oblique view of the host vehicle positioned on both sides of the parking section 404 when the parking section 404 located immediately behind the host vehicle when the host vehicle is parked forward in the parking section where the host vehicle is parked is empty. It is explanatory drawing which shows an example of the rear view image which the other vehicle 105 parks in the parking area 406 of the left rear, and the other vehicle 106 parks in the parking area 405 of the diagonally right back.
FIG. 11 shows the positions of the other vehicles 104 parked on both sides of the parking section 404 in a state where the other vehicle 104 is parked in the parking section 404 located immediately behind the own vehicle when the host vehicle is parked forward in the parking section where the host vehicle is parked. It is explanatory drawing which shows an example of the rear view image in which the parking division 406 of the diagonally left rear and the parking division 405 of the diagonally right rear of the own vehicle which are to be carried out are vacant.

Returning to FIG. 1, the navigation device 51 has various known functions using GPS. The display device 5 of the navigation device 51 includes a parking block dividing white line marked in the parking lot site identified and detected by the parking zone parking position detecting means 81, or a parking zone dividing rope laid in the parking lot site, parking The vehicle parked in the section is displayed, and the exit trajectory and various driving support information when exiting from the parking position calculated by the exit trajectory calculating means 7 are displayed.
The alarm sound generating device 6 outputs an alarm sound when the traveling route of the host vehicle that leaves from the parking position by back running does not follow the calculated exit locus.
The exit trajectory calculation means 7 is a parking lot division white line marked in the parking lot site identified and detected by the parking location parking position detection means 81 or a parking lot division rope laid in the parking lot site, Parking including the parking area defined by the division white line or the parking area dividing rope, the vehicle parked in the parking area, the parking position relationship with respect to the parking area of other vehicles parked in the parking area, and the approach route until parking in the parking area Based on the traveling route in the hall, the exit trajectory when leaving the parked parking area in the back travel is calculated.

Next, the operation will be described.
FIG. 2 is a flowchart showing the operation of this driving support apparatus.
In the following description of the operation of the driving support device, the arrangement form of the parking lots in the parking lot and the presence / absence of the parked vehicle in each parking zone will be described with reference to the examples shown in FIGS.
The vehicle 101 equipped with this driving support device is parked in the form of forward parking in the parking section 401 in the parking lot. In the memory of the ECU 4 of the vehicle 101, when the vehicle 101 is parked in the parking section 401 in the form of forward parking, the vehicle 101 enters the parking section 401 by making a left turn, entering by a right turn, or entering straight ahead. The parking section approach direction information including the base point Po and the parking position Pp, and in the example shown in FIG. 12, “parking section approach direction information indicating that the vehicle has entered the parking section 401 by making a left turn from the direction indicated by the solid line arrow and has parked forward. “Turn left” is stored and stored.
When the vehicle 101 parked in the parking section 401 in this state leaves the parking section 401, the vehicle ignition key is operated by the driver who gets into the driver's seat of the vehicle 101. As a result, the accessory power is turned on, the power is turned on to each part including the ECU 4, and the engine is started.
And a shift lever is put into reverse and the vehicle 101 will be in the state which travels back from the parking area 401 and leaves.
If it will be in the state which drive | works by this back | bag, ECU4 of a driving assistance device will start the driving assistance in the case of taking out from a parking area, and will determine first whether the own vehicle is in the state which goes out backward (step S1). The determination as to whether or not the vehicle is moving out backward is made by detecting a state in which the position of the shift lever of the host vehicle is set to the reverse position. Subsequently, the surrounding information of the host vehicle is collected (step S2). The collection of the surrounding information of the own vehicle is performed by the adjacent right and left adjacent parking spaces where the own vehicle is parked, the right rear parking space, the left rear parking space, The vehicle is parked for the detection of the parking area directly behind, the determination of whether or not the vehicle is parked for each parking area, and the adjacent parking areas on the right and left of the parking area where the host vehicle is parked. If it is, the positional relationship defining parameter indicating the positional relationship of the parked vehicle with respect to the parking section is detected.

3 and 4 are flowcharts showing details of the collection / acquisition processing of the vehicle surrounding information in step S2 of FIG. In this vehicle surrounding information collection / acquisition processing, the presence or absence of a parking area and a parked vehicle is detected in the right adjacent parking area 402 adjacent to the parking area 401 where the own vehicle 101 is parked (step S121), and the detection result is stored. (Step S122). The parking area detection unit 81 detects the parking area based on the identified parking area dividing white line or the parking area dividing rope. And the parking position detection means 81 in the parking area defines the positional relationship with respect to the parking area of the vehicle parked in the right adjacent parking area 402 when there is a parked vehicle in the adjacent right adjacent parking area 402. The specified parameter is detected (step S124) and stored (step S125). Furthermore, the status of the parking position of the parked vehicle in the right adjacent parking section 402 and the left adjacent parking section 403 is detected from the detected positional relationship defining parameter, and the difficulty of leaving due to either “easy to leave” or “difficult to leave” is detected. And memorize (step S126).
The detection of the difficulty level of “extraction difficulty” is performed as follows.
The other vehicle is parked in the adjacent parking section on the right side of the parking section where the host vehicle is parked, and in the adjacent parking section on the left side. In addition, the parallelism of other vehicles parked in the adjacent parking section with respect to the parking section dividing white line that partitions between the parking section in which the host vehicle is parked and the adjacent parking section on the right side is not deviated from the parallel state. A state in which the size does not fall within a predetermined range is detected, and another vehicle parked in the adjacent parking section has a rear part approaching the own vehicle from the front part, that is, the rear part is approaching the own vehicle. Being in a situation where you parked diagonally. Furthermore, the parallelism of the other vehicle parked in the adjacent parking section with respect to the parking section dividing white line dividing the parking section where the host vehicle is parked and the adjacent adjacent parking section on the left is a magnitude of deviation from the parallel state. Is in a state where the vehicle does not fall within a predetermined range and the other vehicle parked in the adjacent parking section has the rear part approaching the own vehicle from the front part, that is, the oblique parking with the rear part approaching the own vehicle. Be in a situation where you are doing. Here, regarding the parallelism of the other vehicle, the detection of the state where the magnitude of the deviation from the parallel state does not fall within a predetermined range is detected from the detected positional relationship defining parameter.
In the state where the above situations are established simultaneously, “difficult to leave” is determined as the situation in which the host vehicle turns backward from the parking position to the adjacent parking area on the right or left side.
FIG. 8A shows a situation where it is determined that “shipping is difficult”.
In addition, the determination of the difficulty level of the delivery that is “ease of delivery” is performed as follows.
When one or both of the parking area where the host vehicle parks and the adjacent parking area adjacent to the parking area are empty. Even when there is a parked vehicle in the right and left adjacent parking sections where the host vehicle is parked, both parked vehicles are parked in the form of oblique parking with the rear part away from the host vehicle. The case where one parked vehicle is in the form of oblique parking with the rear part away from the host vehicle and the other parked vehicle is parked in parallel. When it corresponds to any of the above situations, the situation in which the host vehicle turns back from the parking position to the adjacent parking area is determined as “easy to leave”. In addition, regarding the situation where the parking area directly behind the parking area where the host vehicle is parked is available and can be driven back without turning to that parking area, the vehicle is parked in the adjacent parking area on the right and left of the parking area where the own vehicle is parked. Right and left adjacent to the parking area where the vehicle is parked, except when there is a vehicle and the vehicle turns back to one of the adjacent parking spaces adjacent to the parking location If there is a parked vehicle in the parking lot and the vehicle turns back to one of the adjacent parking lots from the parking position, the parking lot where the own vehicle will park It is determined that the parking area immediately behind the vehicle is in an empty state and the vehicle travels back without turning to the parking area as “easy to leave” with the highest priority.
FIGS. 8B and 8C illustrate a situation where it is determined that “ease is easy”.

Returning to the flowchart of FIG. 3, the presence or absence of a parked vehicle is detected in the left adjacent parking section 403 adjacent to the parking section 401 in which the host vehicle 101 is parked (step S127), and the detection result is stored (step S128). Based on the detection result of the presence or absence of the parked vehicle, it is determined whether or not the adjacent left adjacent parking section 403 is empty (step S129). A positional relationship defining parameter that defines the positional relationship of the vehicle parked in the adjacent parking space with respect to the parking space is detected (step S130) and stored (step S131). Further, the degree of difficulty of leaving due to either “easy to leave” or “difficult to leave” is determined from the detected positional relationship defining parameters, stored, and the process proceeds to step S133 (step S132).
On the other hand, if it is determined in step S127 that there is no parked vehicle in the left adjacent parking section 403, the process proceeds to step S133.
In step S133, the parking section on the right rear side of the host vehicle 101 is detected by identifying the captured parking section division white line. Further, the presence / absence of a parked vehicle is determined for the detected parking area diagonally right rear of the host vehicle 101 (step S134), and the determination result is stored (step S135). Subsequently, the parking section on the diagonally left rear side of the host vehicle 101 is detected by identifying the captured parking section division white line (step S136). Further, the presence / absence of a parked vehicle is determined for the detected parking area diagonally left rear of the host vehicle 101 (step S137), and the determination result is stored (step S138). Subsequently, the parking area immediately behind the host vehicle 101 is detected by identifying the captured parking area division white line (step S139). Furthermore, the presence / absence of a parked vehicle is determined for the detected parking area directly behind the host vehicle 101 (step S140), and the determination result is stored (step S141).

After collecting the surrounding information of the host vehicle as described above, the exit locus is calculated by the exit locus calculating means 7 shown in FIG. 2 (step S3). FIG. 5 is a flowchart showing the calculation process of the shipping locus shown in step S3 of FIG. In this exit trajectory calculation process, an exit route for exiting from the parking section 401 of the host vehicle 101 parked forward in the parking section 401 is calculated.
In the calculation of the exit locus, first, the right adjacent parking section 402 adjacent to the right side of the parking section 401 in which the host vehicle 101 is parked, the left adjacent parking section 403 adjacent to the left side of the parking section 401, and the right adjacent Parking vehicle presence / absence determination result, positional relationship regulation parameters, diagonally right rear, diagonally left rear, right behind parking lots, parking vehicle presence / absence determination result of each of these parking lots, parking From the section approach direction information, a first backward traveling direction in which the vehicle travels backward from the parking position Pp is detected (step S151).
Next, the switching point Pa when the vehicle travels back in the first reverse traveling direction is determined (step S152).
Then, a travel locus from the parking position Pp of the host vehicle 101 to the switching point Pa is set (step S153). In this travel locus setting, the travel locus is set from the steering operation angle and the back travel speed that are assumed when the vehicle travels back from the parking position Pp to the switching point Pa.
Subsequently, it is determined whether or not a forward travel locus for traveling forward from the switching point Pa to the base point Po of the approach route indicated by the parking section approach direction information can be set (step S154).
As a result, when it is determined that the forward travel locus can be set from the switching point Pa to the base point Po of the approach route indicated by the parking section approach direction information, the forward travel locus that travels forward from the switching point Pa to the base point Po is set. (Step S155). On the other hand, if it is determined that the forward travel locus cannot be set from the switching point Pa to the base point Po of the approach route indicated by the parking section approach direction information, the diagonally right rear, the diagonally left rear, and the rearward parking section and the respective parking A second backward traveling direction in which the vehicle travels back from the switching point Pa is detected from the determination result of the presence / absence of the parked vehicle in the section and the parking section approach direction information (step S156).
Next, the switching point Pb when the vehicle travels back in the second reverse traveling direction is determined (step S157).
Then, it is determined whether or not a forward travel locus that travels forward from the switching point Pb to the base point Po of the approach route indicated by the parking section approach direction information can be set (step S158).
As a result, when it is determined that the forward travel locus can be set from the switching point Pb to the base point Po of the approach route indicated by the parking section approach direction information, the forward travel locus that travels forward from the switching point Pb to the base point Po is set. (Step S159). On the other hand, when it is determined that the forward travel locus cannot be set from the switching point Pb to the base point Po of the approach route indicated by the parking section approach direction information, the diagonally right rear, the diagonally left rear, the right rear parking section, and the respective parking Based on the determination result of the presence / absence of the parked vehicle in the section and the parking section approach direction information, a backward traveling locus for traveling backward from the switching point Pb to the base point Po is set (step S160).

Next, the calculation of the outgoing trajectory by the outgoing trajectory calculating means 7 described above will be described with a specific example.
In the example shown in FIG. 12, the right adjacent parking section 402 adjacent to the right of the parking section 401 in which the host vehicle 101 is parked, the left adjacent parking section 403 adjacent to the left of the parking section 401, and the diagonal of the host vehicle 101. The parking area on the right rear and the parking area on the diagonally left rear are empty and no other vehicles are parked. On the other hand, another vehicle 104 is parked in the parking section 404 directly behind the host vehicle 101.
The exit trajectory calculation means 7 first includes a right adjacent parking section 402 adjacent to the right of the parking section 401 in which the host vehicle 101 is parked, a left adjacent parking section 403 adjacent to the left of the parking section 401, and a right adjacent. The determination result of the presence / absence of parked vehicles in the parking section 402 and the left adjacent parking section 403, the positional relationship defining parameters when other vehicles are parked in the right adjacent parking section 402 and the left adjacent parking section 403, and the diagonal of the host vehicle 101 From the right rear, the diagonally left rear, and the right rear parking area, the determination result of the presence or absence of the parked vehicle in each of the parking areas, and the parking area approach direction information, the first backward traveling direction that turns backward from the parking position Pp is detected (step) S151). The approach path of the host vehicle 101 to the parking section 401 indicated by the parking section approach direction information is a front approach warehouse path by a left turn as indicated by a solid line arrow from the base point Po to the parking position Pp. In the example shown in FIG. 12, as described in FIG. 8, the first reverse traveling direction when leaving the parking position Pp in the back is the side of the adjacent parking section on the right or left side of the own vehicle 101 from the parking position. Since the situation in which the vehicle turns in the reverse direction is determined to be “easy to leave”, it is a one-dot chain line that is determined to be “easy to leave” in the direction opposite to the parking area approach direction indicated by the parking area approach direction information as the first reverse travel direction. It becomes the direction of the arrow shown. Next, the switching point Pa when the vehicle travels back in the first reverse traveling direction is determined (step S152). The position of the switching point Pa is the position shown in FIG. 12 where the host vehicle 101 can travel forward in the direction of the base point Po. Then, the travel locus of the host vehicle 101 from the parking position Pp to the switching point Pa is set (step S153). This travel locus is calculated as an assumed steering operation angle when turning backward from the parking position Pp to the switching point Pa, and a leaving locus from the parking position Pp to the switching point Pa from the back traveling speed. Subsequently, it is determined whether or not a forward travel locus for traveling forward from the switching point Pa to the base point Po of the approach route indicated by the parking section approach direction information can be set (step S154). In the example shown in FIG. 12, since it is determined that the forward travel locus can be set from the switching point Pa to the base point Po of the approach route indicated by the parking section approach direction information, the switching point Pa indicated by the two-dot chain line arrow indicates the base point Po. A forward travel locus for traveling forward is set (step S155).

In the example shown in FIG. 13, the right adjacent parking section 402 adjacent to the right side of the parking section 401 where the host vehicle 101 is parked, the left adjacent parking section 403 adjacent to the left side of the parking section 401, and directly behind the host vehicle 101. Other vehicles are parked in the parking section 404. On the other hand, the parking area on the diagonally right rear and the parking area on the diagonally left rear of the host vehicle 101 are empty and no other vehicle is parked.
The exit trajectory calculation means 7 first includes a right adjacent parking section 402 adjacent to the right of the parking section 401 in which the host vehicle 101 is parked, a left adjacent parking section 403 adjacent to the left of the parking section 401, and a right adjacent. The determination result of the presence / absence of parked vehicles in the parking section 402 and the left adjacent parking section 403, the positional relationship defining parameters when other vehicles are parked in the right adjacent parking section 402 and the left adjacent parking section 403, and the diagonal of the host vehicle 101 From the right rear, the diagonally left rear, and the right rear parking area, the determination result of the presence or absence of the parked vehicle in each of the parking areas, and the parking area approach direction information, the first backward traveling direction that turns backward from the parking position Pp is detected (step) S151). The approach path of the host vehicle 101 to the parking section 401 indicated by the parking section approach direction information is a previous approach storage path by a left turn as indicated by a solid line arrow from the base point Po to the parking position Pp as in the example of FIG. As illustrated in FIG. 8, the first reverse traveling direction when leaving the parking position Pp in the back is the side of the adjacent parking section on the right side or the left side of the own vehicle 101 in the example shown in FIG. 13. Since the situation in which the vehicle turns in the reverse direction is determined to be “easy to leave”, it is a one-dot chain line that is determined to be “easy to leave” in the direction opposite to the parking area approach direction indicated by the parking area approach direction information as the first reverse travel direction. It becomes the direction of the arrow shown. Next, the switching point Pa when the vehicle travels back in the first reverse traveling direction is determined (step S152). The position of the switching point Pa is the position shown in FIG. 13 where the host vehicle 101 can travel forward in the direction of the base point Po. Then, the travel locus of the host vehicle 101 from the parking position Pp to the switching point Pa is set (step S153). This travel locus is calculated from the steering operation angle and the back travel speed that are assumed when the vehicle travels backward from the parking position Pp to the switching point Pa. Subsequently, it is determined whether or not a forward travel locus for traveling forward from the switching point Pa to the base point Po of the approach route indicated by the parking section approach direction information can be set (step S154). Also in the example shown in FIG. 13, since it is determined that the forward travel locus can be set from the switching point Pa to the base point Po of the approach route indicated by the parking section approach direction information, the switching point Pa indicated by the two-dot chain line arrow indicates the base point Po. A forward travel locus for traveling forward is set (step S155).

In the example shown in FIG. 14, other vehicles are parked in the right adjacent parking section 402, the left adjacent parking section 403, and the parking section 404 directly behind the host vehicle 101. On the other hand, the parking area on the diagonally right rear and the parking area on the diagonally left rear of the host vehicle 101 are empty and no other vehicle is parked.
The exit trajectory calculation means 7 first determines whether there is a parking vehicle in the right adjacent parking section 402, the left adjacent parking section 403, the right adjacent parking section 402 and the left adjacent parking section 403, and the right adjacent parking section 402 and the left adjacent parking section. Parameters relating to the positional relationship of other vehicles parked in the parking section 403, parking areas on the diagonally right rear, diagonally left rear, and rear side of the own vehicle 101, the presence / absence determination result of each of the parking sections, and the parking section entry Based on the direction information, a first backward traveling direction in which the vehicle travels backward from the parking position Pp is determined (step S151). The approach path of the host vehicle 101 to the parking section 401 indicated by the parking section approach direction information is a front approach storage path by a left turn as indicated by a solid line arrow from the base point Po to the parking position Pp as in the example of FIG. As illustrated in FIG. 8, the first backward traveling direction when leaving the parking position Pp in the back is the back traveling turning from the parking position to the adjacent parking section on the right side in the example illustrated in FIG. 14. The situation in which the vehicle is to be pulled out is determined to be “difficult to leave”, and the situation in which the vehicle turns back to the adjacent parking area on the left is determined to be “easy to leave”. For this reason, it becomes the direction of the arrow shown with the dashed-dotted line determined with the same as the parking area approach direction which the parking area approach direction information shows as a 1st backward running direction as the parking area approach direction. Next, the switching point Pa when the vehicle travels back in the first reverse traveling direction is determined (step S152). In the example shown in FIG. 14, the position of the switching point Pa is on the parking section approach route. Then, the travel locus of the host vehicle 101 from the parking position Pp to the switching point Pa is set (step S153). The travel locus is calculated from the assumed steering operation angle when turning backward from the parking position Pp to the switching point Pa, and the exit locus from the parking position Pp to the switching point Pa from the back traveling speed. Subsequently, it is determined whether or not a forward travel locus for traveling forward from the switching point Pa to the base point Po of the approach route indicated by the parking section approach direction information can be set (step S154). In the example shown in FIG. 14, it is determined that the forward travel locus cannot be set from the switching point Pa to the base point Po of the approach route indicated by the parking section approach direction information. For this reason, the parking area 405 on the diagonally right rear of the own vehicle 101 parked in the parking area 401, the parking area 406 on the diagonally left rear, the parking area 404 immediately behind, and the parking vehicle presence / absence determination result in each of these parking areas, parking From the section approach direction information, a second backward traveling direction in which the vehicle travels backward from the switching point Pa is detected (step S156). In the example of FIG. 14, the parking section 406 diagonally left rear of the host vehicle 101 parked in the parking section 401 is in an empty state, and therefore the direction toward the parking section 406 is set as the second backward traveling direction. The switching point Pb when the vehicle travels back from the switching point Pa in the second backward traveling direction is determined (step S157). In the example shown in FIG. 14, it becomes the switching point Pb in the parking lot 406 in an empty state. Then, it is determined whether or not a forward travel locus that travels forward from the switching point Pb to the base point Po of the approach route indicated by the parking section approach direction information can be set (step S158). In the example of FIG. 14, since it is determined that the forward travel locus can be set from the switching point Pb to the base point Po of the approach route indicated by the parking section approach direction information, the two-dot chain line arrow that travels forward from the switching point Pb to the base point Po The forward travel locus indicated by is set (step S159).
When another vehicle is parked in the parking area 406 diagonally left rear of the host vehicle 101, the second reverse traveling direction detected in step S156 and the switching point Pb set in step S157 are switched. Similar to the point Pa, it is set on the approach route of the host vehicle 101 to the parking section 401. Then, as a result of determining that the forward travel locus cannot be set from the point Pb to the base point Po, a reverse travel locus for back traveling from the switching point Pb to the base point Po is set (step S160).

In the example shown in FIG. 15, other vehicles are parked in the right adjacent parking section 402, the left adjacent parking section 403, the diagonally right rear parking section 405, and the diagonally left rear parking section 406 of the host vehicle 101. On the other hand, the parking section 404 directly behind the host vehicle 101 is empty and no other vehicle is parked.
The exit trajectory calculation means 7 first determines whether there is a parking vehicle in the right adjacent parking section 402, the left adjacent parking section 403, the right adjacent parking section 402 and the left adjacent parking section 403, and the right adjacent parking section 402 and the left adjacent parking section. The positional relationship regulation parameters of other vehicles parked in the parking section 403, the diagonally right rear, the diagonally left rear, and the rearward parking section of the host vehicle 101, the presence / absence determination result of the parking vehicle in each of the parking sections, the parking section approach direction From the information, the first backward traveling direction in which the vehicle travels backward from the parking position Pp is detected (step S151). The approach path of the host vehicle 101 to the parking section 401 indicated by the parking section approach direction information is a front approach storage path by a left turn as indicated by a solid line arrow from the base point Po to the parking position Pp as in the example of FIG. As illustrated in FIG. 8, the first reverse traveling direction when leaving the parking position Pp in the back is the side of the adjacent parking section on the right side or the left side of the own vehicle 101 in the example shown in FIG. 15. Since the situation in which the vehicle turns in the reverse direction is determined to be “easy to leave”, it is a one-dot chain line that is determined to be “easy to leave” in the direction opposite to the parking area approach direction indicated by the parking area approach direction information as the first reverse travel direction. It becomes the direction of the arrow shown. Next, the switching point Pa when the vehicle travels back in the first reverse traveling direction is determined (step S152). The position of the switching point Pa is the position shown in FIG. 15 where the host vehicle 101 can travel forward in the direction of the base point Po. Then, the travel locus of the host vehicle 101 from the parking position Pp to the switching point Pa is set (step S153). This travel locus is calculated from the steering operation angle and the back travel speed that are assumed when the vehicle travels backward from the parking position Pp to the switching point Pa. Subsequently, it is determined whether or not a forward travel locus for traveling forward from the switching point Pa to the base point Po of the approach route indicated by the parking section approach direction information can be set (step S154). Even in the example shown in FIG. 15, since it is determined that the forward travel locus can be set from the switching point Pa to the base point Po of the approach route indicated by the parking section approach direction information, the switching point Pa indicated by the two-dot chain line arrow indicates the base point Po. A forward travel locus for traveling forward is set (step S155).

In the example shown in FIG. 16, other vehicles are parked in the right adjacent parking section 402, the left adjacent parking section 403, the diagonally right rear parking section 405, and the diagonally left rear parking section 406 of the host vehicle 101. On the other hand, the parking section 404 directly behind the host vehicle 101 is empty and no other vehicle is parked.
The exit trajectory calculation means 7 first determines whether there is a parking vehicle in the right adjacent parking section 402, the left adjacent parking section 403, the right adjacent parking section 402 and the left adjacent parking section 403, and the right adjacent parking section 402 and the left adjacent parking section. The positional relationship regulation parameters of other vehicles parked in the parking section 403, the diagonally right rear, the diagonally left rear, and the rearward parking section of the host vehicle 101, the presence / absence determination result of the parking vehicle in each of the parking sections, the parking section approach direction From the information, the first backward traveling direction in which the vehicle travels backward from the parking position Pp is detected (step S151). The approach path of the host vehicle 101 to the parking section 401 indicated by the parking section approach direction information is a front approach storage path by a left turn as indicated by a solid line arrow from the base point Po to the parking position Pp as in the example of FIG. As illustrated in FIG. 8, the first backward running direction when leaving the parking position Pp in the back is the back running turning from the parking position to the adjacent parking section on the right side in the example shown in FIG. The situation to be determined is “difficult to leave”. In addition, the situation in which the vehicle travels back to the adjacent parking section on the left side or the situation in which the vehicle travels back without turning to the parking section 404 immediately behind is determined as “easy to leave” with higher priority. For this reason, the first reverse traveling direction is the direction of the arrow indicated by the alternate long and short dash line in which the vehicle travels backward without turning into the parking section 404 immediately behind. Next, the switching point Pa when the vehicle travels back in the first reverse traveling direction is determined (step S152). The position of the switching point Pa is the position shown in FIG. 16 where the host vehicle 101 can travel forward in the direction of the base point Po. Then, the travel locus of the host vehicle 101 from the parking position Pp to the switching point Pa is set (step S153). This travel locus is calculated from the steering operation angle and the back travel speed that are assumed when the vehicle travels back from the parking position Pp to the switching point Pa. Subsequently, it is determined whether or not a forward travel locus for traveling forward from the switching point Pa to the base point Po of the approach route indicated by the parking section approach direction information can be set (step S154). In the example shown in FIG. 16, since it is determined that the forward travel locus can be set from the switching point Pa to the base point Po, the forward travel locus for traveling forward from the switching point Pa indicated by the two-dot chain line arrow is set. (Step S155).

  Returning to the flowchart of FIG. 2, the exit locus of the host vehicle 101 calculated in step S3 is displayed and output to the display device 5 (step S4). The ECU 4 determines whether or not the exit trajectory of the host vehicle 101 calculated and displayed on the display device 5 matches the route of the host vehicle 101 (step S5), and is calculated and displayed on the display device 5. When the exit route of the host vehicle 101 deviates from the exit trajectory of the host vehicle 101, the alarm sound generating device 6 gives a warning or alert by a sound or alarm sound, and the operation of the exit track change button displayed and output on the display device 5 is performed. It is determined whether or not the operation has been performed, and if it is determined that the operation of the exit trajectory change button has been performed, the direction of the exit trajectory of the host vehicle 101 displayed on the display device 5 is changed (step S6). Further, it is determined whether or not the distance from the parking section 401 to the current position of the host vehicle 101 that has left the parking section 401 exceeds a predetermined distance (step S7), and the distance from the parking section 401 to the current position. When the distance exceeds a certain distance, the exit trajectory display output is terminated (step S8).

  As described above, according to this embodiment, the adjacent parking section on the right and left of the parking section where the host vehicle is parked, the parking section on the right rear of the host vehicle, the parking section on the left rear, About the detection about the presence or absence of the parked vehicle about the parking lot right behind the host vehicle, and the adjacent parking zone on the right side and the left side, when other vehicles are parked, with respect to the parking zone detected for the parked vehicle The position difficulty regulation status indicating “ease of leaving” or “difficulty of leaving” is determined based on the position relationship defining parameter indicating the position relationship, the determination result on the presence / absence of a parked vehicle for each parking section, and the detected position relationship defining parameter The difficulty of leaving, which indicates “easy to leave” or “difficult to leave”, and whether the vehicle has entered the parking lot by turning left or right, or entering straight ahead Based on the parking section approach direction information indicating whether or not the vehicle parked forward in the parking section can be safely and easily issued from the parking section in the back travel, the traveling direction, The switching point is displayed and output on the display device of the navigation device. Accordingly, it is possible to realize driving assistance that guides a safe and easy exit route when the host vehicle parked forward travels from the parking section by back travel.

  In the embodiment described above, the host vehicle 101 is parked forward in the parking section 401, and when leaving the parking section 401, the host vehicle 101 is parked back in the parking section 401. And when it leaves from the parking section 401, it can apply similarly also to the situation where it leaves by forward running, and the driving assistance which guides a safe and easy leaving route is realizable.

  Moreover, in embodiment described above, when the other vehicle is parking about the adjacent parking area on the right side and the left side of the parking area where the host vehicle is parked, the parking area detected for the parked vehicle It has been explained that the exit difficulty situation indicating “easy to exit” or “difficult to exit” is determined by the positional relationship defining parameter indicating the positional relationship with respect to the vehicle, and the exit route of the own vehicle is calculated. If there is a parked vehicle in the left rear parking lot or in the parking lot directly behind the host vehicle, the position of the parked vehicle relative to the parking lot is the same as the right and left adjacent parking lots where the host vehicle is parked. Detecting positional relationship regulation parameters indicating the relationship, adding the difficulty of leaving by the vehicle parked in the right rear parking area, the left rear parking area, and the parking area directly behind the own vehicle It may be configured to calculate the unloading path of the vehicle.

  DESCRIPTION OF SYMBOLS 1 ... Parking position detection sensor, 2 ... Steering angle sensor, 3 ... Vehicle speed sensor, 4 ... ECU, 5 ... Display device, 6 ... Alarm sound generation device, 7 ... Delivery locus calculation means, 81 ... ... parking position detection means in parking area, 82 ... exit locus display means, 83 ... exit locus display change means.

Claims (3)

A driving support device for supporting a delivery route when a vehicle parked in a parking lot of a parking lot leaves the parking lot,
A parking position parking position detecting means for detecting a parking area around the own vehicle and other vehicles parked in the surrounding parking area and detecting a positional relationship of the other vehicle with respect to the surrounding parking area. When,
Based on the detected parking area around the own vehicle, the detected other vehicle, and the detected positional relationship, a leaving locus when the own vehicle leaves the parking area is calculated. Shipping locus calculation means;
A delivery trajectory display means for displaying and outputting the calculated exit trajectory and the direction in which the host vehicle travels on a display device ;
The parking location parking position detection means is a parking system in which the host vehicle parks a positional relationship with respect to the adjacent parking zone of another vehicle parked in an adjacent parking zone adjacent to the parking zone in which the host vehicle is parked. Detecting from the parallelism of other vehicles parked in the adjacent parking section with respect to the parking section division mark that partitions the section and the adjacent parking section,
Driving support device comprising a call.   2. The driving support apparatus according to claim 1, further comprising a delivery locus display changing means for changing the delivery locus displayed on the display device by the delivery locus display means and the traveling direction. The goods issue locus calculating means further claim 1 wherein said vehicle under conditions plus approach route to the parking space of the vehicle, characterized in that calculating the goods issue trajectory at the time of unloading from the parking area or 2. The driving support device according to 2 .

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