JP5895860B2 - Parking assistance device - Google Patents

Description

  The present invention relates to a parking support apparatus that supports parking of a host vehicle.

  Conventionally, there is an unparked state communication system described in Patent Literature 1 as a parking assistance device that performs parking assistance of the host vehicle. This unparked state communication system improves the real-time property of parking space vacancy information by communicating between a plurality of vehicles. Specifically, when it is detected that the vehicle has left the parking state, the vehicle position information or the position information where the vehicle has been parked is transmitted to the other vehicle together with the unparking signal. The unparking signal and position information transmitted from the vehicle are received.

JP 2011-209779 A

  However, since the unparked communication system described in Patent Document 1 is based on the premise that all vehicles have the same communication means, there is a problem that the convenience of the system is lacking until the communication means becomes widespread. is there.

  Then, an object of this invention is to provide the parking assistance apparatus which can judge the vehicle which is going to leave by an autonomous sensor.

  A parking assist apparatus according to the present invention includes a candidate vehicle that may be issued by an object detection sensor that detects an object existing around the host vehicle, an object detection unit that detects a moving speed of the candidate vehicle, and a host vehicle position. A position / environment detection unit that detects the environment of the vehicle and a determination unit that determines whether or not the candidate vehicle is scheduled to leave, and the determination unit includes the own vehicle in a parking lot and the moving speed of the candidate vehicle. When the vehicle speed is equal to or lower than the predetermined speed, it is determined that the candidate vehicle is scheduled to be delivered.

  According to the parking assist device of the present invention, the moving speed of the candidate vehicle detected by the object detection sensor in which the environment of the own vehicle position detected by the position environment detection unit is a parking lot and the object detection unit is an autonomous sensor. When the vehicle speed is equal to or lower than the predetermined speed, it is determined that the candidate vehicle is scheduled to leave, so that the vehicle scheduled to leave can be determined by the autonomous sensor even if the communication means is not widespread.

  The object detection unit may detect a candidate vehicle based on whether or not a sensor signal issued from another vehicle is received. As a result, the candidate vehicle can be determined with higher accuracy.

  In addition, the object detection unit can detect an object protruding from a stationary object as a candidate vehicle. Here, the stationary object refers to a pillar, a wall or the like installed in the parking lot. In general, parking spaces are often placed next to stationary objects such as pillars and walls, so by detecting an object protruding from such a location as a candidate vehicle, the candidate vehicle can be determined with higher accuracy. be able to.

  The position environment detection unit can determine that the host vehicle is in a parking lot when the surroundings of the host vehicle are in an environment in which a plurality of vehicles are arranged in parallel. Since parking vehicles are juxtaposed in a large parking lot such as a store, it is possible to detect with higher accuracy whether or not the own vehicle is in the parking lot by making such a determination.

  Further, if it is determined that the candidate vehicle is scheduled to leave, parking assistance to the space where the candidate vehicle was parked can be performed. Parking assistance can be performed more quickly by performing parking assistance based on the determination that the candidate vehicle is scheduled to leave.

  Further, when it is determined that the candidate vehicle is scheduled to leave, it is determined whether or not the space where the candidate vehicle was parked is a space that can be parked. Parking assistance can be provided. Parking assistance can be performed more quickly by performing parking assistance based on the determination that the candidate vehicle is scheduled to leave. In addition, by determining whether or not the space where the candidate vehicle is parked is a space where parking is possible, it is possible to prevent parking assistance from being erroneously performed in a space where parking is not possible.

  According to the present invention, it is possible to determine a vehicle scheduled to leave by an autonomous sensor.

It is a block diagram which shows the parking assistance apparatus which concerns on embodiment. It is a figure for demonstrating the example of a detection of a candidate vehicle. It is a figure for demonstrating the example of a detection of a candidate vehicle. It is a flowchart which shows the processing operation of parking assistance ECU. It is a flowchart which shows the processing operation of the scheduled delivery vehicle search shown in FIG.

  Hereinafter, an embodiment of a parking assistance device according to the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected about the element which is the same or it corresponds in each figure, and the overlapping description is abbreviate | omitted.

  FIG. 1 is a block diagram illustrating a parking assistance device according to an embodiment. As shown in FIG. 1, the parking assistance device 1 according to the present embodiment is mounted on a vehicle, and includes a communication device 11, a sensor 12, a parking assistance ECU 20, a hazard lamp 31, a steering wheel 32, and a brake 33. And an engine 34 and a display 35 (meter).

  The communication device 11 is a communication device that acquires delivery data from another vehicle by inter-vehicle communication. The outgoing data includes, for example, information such as the position of the outgoing vehicle and the outgoing direction. The communication device 11 performs vehicle-to-vehicle communication with another vehicle, requests the other vehicle for outgoing data, and receives the outgoing data transmitted from the other vehicle. Further, the communication device 11 transmits the received exit data of the other vehicle to the parking assist ECU 20.

  The sensor 12 is an autonomous sensor mounted on the vehicle, and is an object detection sensor that detects an object existing around the own vehicle and detects the position of the detected object. The sensor 12, such as a clearance sonar and various radars, emits a sensor signal such as an ultrasonic wave and receives a reflected signal of the sensor signal, thereby detecting an object existing around the host vehicle and its position. To do. The sensor 12 also has a function of detecting an object existing in the vicinity of the host vehicle and its position by receiving a sensor signal emitted from another vehicle. In addition, the direction of the other vehicle with respect to the own vehicle can be specified from the receiving direction of the sensor signal.

  The parking assistance ECU 20 performs parking assistance for the host vehicle by controlling the hazard lamp 31, the steering wheel 32, the brake 33, the engine 34, the display 35, and the like based on the information transmitted from the communication device 11 and the sensor 12. It is. For this reason, the parking assistance ECU 20 includes functions of a parking space detection unit 21, an object detection unit 22, a position environment detection unit 23, a determination unit 24, and a parking support unit 25.

  The parking space detection unit 21 detects a vacant parking space based on the information transmitted from the sensor 12. Moreover, the parking space detection part 21 and the function which detects the vacant parking space based on the information transmitted from the communication apparatus 11 are also provided. Note that various known methods can be adopted as a method for detecting an empty parking space by the parking space detection unit 21.

  The object detection unit 22 detects a candidate vehicle with a possibility of leaving based on the information transmitted from the sensor 12, and calculates the moving speed of the candidate vehicle.

  For example, consider a case where parked vehicles are arranged in parallel as shown in FIG. In this case, when the sensor 12 detects a convex portion (object) protruding from the juxtaposed portion, the convex portion is detected as a candidate vehicle. Then, the extension speed of the convex portion with respect to the parallel portions is calculated as the moving speed of the candidate vehicle. Thereby, while detecting the vehicle which is going out from a parking space as a candidate vehicle, the moving speed of the said candidate vehicle is computable.

  Consider a case where a parking space is arranged next to a stationary object such as a pillar or wall. In this case, when the sensor 12 detects a stationary object such as a pillar or a wall or an object protruding from the side of the stationary object (an object protruding from the blind spot), this object is detected as a candidate vehicle. Thereby, even if it is a case where a plurality of parked vehicles are not arranged in parallel, a vehicle which is going to leave from a parking space can be detected as a candidate vehicle.

  Moreover, as shown in FIG. 3, the case where the other vehicle parked has emitted the sensor signal is considered. In the case of a vehicle equipped with a clearance sonar, when the vehicle is advanced, sensor signals are emitted forward and laterally, and when the vehicle is moved backward, sensor signals are emitted backward and laterally. Further, the sensor signals emitted forward, sideward and backward from the clearance sonar have different frequencies. For this reason, when the sensor 12 detects the sensor signal in the direction of moving in the direction of leaving issued from the other vehicle, the object detected in the direction in which the sensor signal is received is detected as a candidate vehicle.

  The position environment detection unit 23 detects the environment of the host vehicle position. Specifically, whether the host vehicle is in a parking lot or other than a parking lot is detected as the environment of the host vehicle position. Detection of the environment of the host vehicle position can be determined, for example, by comparing the host vehicle position measured by GPS with map information and whether the map information at the position is a parking lot. Further, when the objects detected by the sensor 12 are arranged in parallel, it can be determined that the position of the host vehicle is in the parking lot as a plurality of vehicles are parked.

  The determination unit 24 determines whether the candidate vehicle detected by the object detection unit 22 is scheduled to be shipped. More specifically, in the determination unit 24, the environment of the vehicle position detected by the position environment detection unit 23 is a parking lot, and the moving speed of the candidate vehicle detected by the object detection unit 22 by the sensor 12 is a predetermined speed. If it is the following, it is determined that the candidate vehicle is scheduled to leave.

  Further, the determination unit 24 determines whether or not the candidate vehicle leaves the parking space based on whether or not the place where the candidate vehicle comes out is a parking space. For example, when a wall or curb is detected behind the place where the candidate vehicle comes out by the sensor 12, the place where the candidate vehicle comes out is a parking space, and the candidate vehicle leaves the parking space. Judgment is made and it is determined that the candidate vehicle is scheduled to leave. On the other hand, if a wall or curb cannot be detected behind the place where the candidate vehicle comes out by the sensor 12, the place where the candidate vehicle comes out is a passage and the candidate vehicle does not leave the parking space. It is determined that the candidate vehicle is not scheduled to leave.

  Similarly, the determination unit 24 determines whether the planned departure vehicle has left the parking space based on whether or not the location where the planned departure vehicle has been determined to be out of the candidate vehicles is a parking space. Judge whether or not. For example, when a wall or curb is detected behind the place where the planned vehicle exited by the sensor 12, the location where the planned vehicle exited is a parking space, and the planned vehicle exited from the parking space. to decide. On the other hand, if the sensor 12 cannot detect a wall or curbstone behind the place where the planned vehicle exits, the location where the planned vehicle exits is a passage and the planned vehicle exits from the parking space. Judge that is not.

  In addition, when the environment of the host vehicle position detected by the position environment detection unit 23 is a parking lot and the communication device 11 receives the exit data, the determination unit 24 transmits the exit data to the communication device 11. It also has a function to determine that the vehicle is scheduled to leave. For example, let us consider a case where another parked vehicle has a communication device that transmits outgoing data. In this case, when the communication device 11 transmits a request for transmission of outgoing data from the communication device 11 to the other vehicle and the communication device 11 receives the outgoing data transmitted from the other vehicle, the position of the outgoing vehicle included in the outgoing data, the outgoing direction, etc. Based on the information, it is determined that the other vehicle that has transmitted the delivery data is scheduled to leave.

  The parking assistance unit 25 provides assistance to the empty parking space detected by the parking space detection unit 21. Moreover, the parking assistance part 25 performs parking assistance to the parking space where the candidate vehicle which the judgment part 24 judged to be a leaving schedule comes out.

  For parking assistance to an empty parking space detected by the parking space detection unit 21, for example, the steering 32 and the brake 33 are driven and controlled to assist the movement to the parking space, or the movement path to the parking space is displayed on the display 35. When the parking in the parking space is completed, the engine 34 is stopped, or the display 35 displays that parking assistance is being performed.

  For example, parking assistance to the parking space where the candidate vehicle that the determination unit 24 has determined to be leaving comes out is confirmed by, for example, confirming the occupant's intention to park in the parking space, and the waiting position until the candidate vehicle leaves completely. invite. Then, after the candidate vehicle has completely left, the same assistance as the parking assistance to the empty parking space detected by the parking space detection unit 21 is performed.

  Next, with reference to FIG.4 and FIG.5, the processing operation of the parking assistance apparatus 1 which concerns on this embodiment is demonstrated. FIG. 4 is a flowchart showing the processing operation of the parking assist ECU. FIG. 5 is a flowchart showing the processing operation of the scheduled delivery vehicle search shown in FIG.

  As shown in FIG. 4, when performing parking assistance by the parking assistance device 1, first, the parking space detection unit 21 searches for an already available parking space based on the information transmitted from the sensor 12 ( Step S1).

  When a parking space is searched in step S1 (step S2: YES), the parking support unit 25 provides parking support to the parking space searched in step S1 (step S3).

  On the other hand, when the parking space is not searched in step S2 (step S2: NO), the object detection unit 22, the position / environment detection unit 23, and the determination unit 24 search for a vehicle to be released that is scheduled to be released (step). S4). Here, with reference to FIG. 5, the retrieval of the planned delivery vehicle in step S4 will be described in detail.

  As shown in FIG. 5, in the search for a planned departure vehicle in step S <b> 4, first, the object detection unit 22 detects a candidate vehicle that is likely to be released based on the information transmitted from the sensor 12. The position of the candidate vehicle is detected (step S11).

  If the candidate vehicle cannot be searched in step S11 (step S13: NO), it is determined that there is no scheduled delivery vehicle (step S12), and the process for retrieving the scheduled delivery vehicle is terminated.

  On the other hand, when the candidate vehicle can be searched in step S11 (step S13: YES), the position / environment detection unit 23 detects the environment of the own vehicle position, and whether the own vehicle is in the parking lot or is outside the parking lot. (Step S14).

  If the environment at the own vehicle position cannot be detected in step S14 (step S15: NO), it is determined that there is no planned delivery vehicle (step S12), and the process of retrieving the planned delivery vehicle is terminated. In addition, also when it is judged in step S14 that the own vehicle is not in the parking lot, it may be judged that there is no delivery planned vehicle, and the delivery scheduled vehicle search process may be terminated.

  On the other hand, if the environment of the host vehicle position can be detected in step S14 (step S15: YES), then the determination unit 24 detects the state of the candidate vehicle detected in step S11, and the moving speed of the candidate vehicle is detected. Is calculated (step S16). In step S16, the moving speed of the candidate vehicle can be calculated by observing the position of the candidate vehicle detected in step S11 over time. In addition, as shown in FIG. 2, when the convex part which protrudes from the part where the sensor 12 was paralleled in step S11 was detected as a candidate vehicle, the expansion speed of the said convex part is calculated as a moving speed of the candidate vehicle.

  If the moving speed of the candidate vehicle cannot be calculated in step S16 (step S17: NO), it is determined that there is no planned delivery vehicle (step S12), and the process for retrieving the planned delivery vehicle is terminated.

  On the other hand, when the moving speed of the candidate vehicle can be calculated in step S16 (step S17: YES), the determination unit 24 determines whether or not the candidate vehicle detected in step S11 is scheduled to go out (step S18). .

  In step S18, it is first determined whether or not the candidate vehicle is scheduled to leave based on the environment of the host vehicle and the moving speed of the candidate vehicle. That is, if it is determined in step S14 that the host vehicle is in the parking lot and the moving speed of the candidate vehicle calculated in step S16 is less than or equal to a predetermined speed, it is determined that the candidate vehicle is scheduled to be released. . On the other hand, if it is determined in step S14 that the host vehicle is not in the parking lot, or if it is determined that the moving speed of the candidate vehicle calculated in step S16 is higher than the predetermined speed, it is determined that the candidate vehicle is not scheduled to be released. To do.

  Further, in step S18, when it is determined that the candidate vehicle is scheduled to leave based on the environment of the host vehicle and the moving speed of the candidate vehicle, it is determined whether or not the place where the candidate vehicle comes out is a parking space. . That is, when it is determined that the place where the candidate vehicle appears is a parking space, it is determined that the candidate vehicle is scheduled to be delivered. On the other hand, if it is determined that the place where the candidate vehicle comes out is not a parking space, it is determined that the candidate vehicle is not scheduled to leave.

  If it is determined in step S18 that the candidate vehicle is not scheduled to be released (step S19: NO), it is determined that there is no planned vehicle to be released (step S12), and the process of searching for a scheduled vehicle is terminated.

  On the other hand, when it is determined in step S18 that the candidate vehicle is scheduled to be released (step S19: YES), it is determined that there is a scheduled vehicle to be released (discovered) (step S20), and the process of searching for a scheduled vehicle is terminated.

  In addition, when the delivery data is transmitted from another vehicle, the other vehicle that has transmitted the delivery data instead of the above-described steps S11 to S20 or together with the above-described steps S11 to S20. It may be determined that the vehicle is scheduled to leave.

  Returning to FIG. 4, when it is determined in step S4 that there is no planned delivery vehicle (step S5: NO), the process returns to step S4 to search for a planned delivery vehicle again.

  On the other hand, when it is determined in step S4 that there is a vehicle scheduled to leave (step S5: YES), the parking support unit 25 confirms parking intention to the passenger of the own vehicle (step S6). The parking intention confirmation can be performed by operating a button arranged on a dash panel or the like, or by touching the display 35 if the display 35 is a touch panel.

  If the occupant's intention to park is not confirmed in step S6 (step S7: NO), the process returns to step S4 to search for the scheduled delivery vehicle again.

  On the other hand, if the occupant's intention to park is obtained in step S6 (step S7: YES), the parking assistance unit 25 guides the host vehicle to the host vehicle standby position (step S8). The own vehicle stand-by position is a position near the parking space where the scheduled delivery vehicle determined to be present in step S4 is parked and does not interfere with the delivery of the scheduled delivery vehicle. The guidance to the own vehicle standby position by the parking support unit 25 is, for example, driving and controlling the steering 32 and the brake 33 to assist the movement to the own vehicle standby position, or the movement path to the own vehicle standby position on the display 35. Displaying, flashing the hazard lamp 31 at the own vehicle standby position, or displaying on the display 35 that guidance to the own vehicle standby position is being performed.

  When the host vehicle is guided to the host vehicle standby position, next, the exit status of the scheduled delivery vehicle searched in step S4 is observed, and the completion of delivery of the scheduled delivery vehicle is searched (step S9). The search for completion of delivery can be performed, for example, when the sensor 12 detects the position of the planned delivery vehicle. That is, it is determined that the delivery has been completed when the planned delivery vehicle has been completely delivered from the parking space and the planned delivery vehicle has moved until the vehicle can park in the parking space.

  When it is determined in step S9 that the delivery has been completed, the parking support unit 25 provides parking assistance to the parking space in which the planned delivery vehicle searched in step S4 is parked (step S3).

  In addition, between step S9 or step S9 and step S3, it may be further determined whether or not the place where the vehicle scheduled to go out is a parking space. For example, if it is determined that the place where the planned vehicle is coming out is a parking space, it is determined that the place where the planned outgoing vehicle is located is a parking space, and the planned vehicle is issued from the parking space. Continue processing. On the other hand, if it is determined that the place where the planned vehicle is coming out is not a parking space, it is determined that the place where the planned vehicle is coming out is a passage and that the planned vehicle is not out of the parking space. , The process is temporarily terminated.

  As described above, according to the parking assistance device 1 according to the present embodiment, the environment in which the own vehicle position detected by the position environment detection unit 23 is a parking lot, and the object detection unit 22 is an autonomous sensor. When the moving speed of the candidate vehicle detected by 12 is equal to or lower than the predetermined speed, it is determined that the candidate vehicle is scheduled to go out. can do.

  In addition, the candidate vehicle can be determined with higher accuracy by detecting the candidate vehicle based on the presence or absence of reception of a sensor signal emitted from another vehicle.

  Further, by detecting an object protruding from a stationary object as a candidate vehicle, the candidate vehicle can be determined with higher accuracy.

  In addition, it is possible to detect with high accuracy whether or not the host vehicle is in the parking lot by determining that the host vehicle is in the parking lot when the surroundings of the host vehicle are in an environment where a plurality of vehicles are arranged in parallel. it can.

  Moreover, parking assistance can be performed more promptly by performing parking assistance based on the determination that the candidate vehicle is scheduled to leave.

  Further, by determining whether or not the space where the candidate vehicle is parked is a space that can be parked, it is possible to prevent parking assistance from being erroneously performed in a space that cannot be parked.

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment.

  For example, in the above embodiment, the specific detection method of the candidate vehicle and the moving speed of the candidate vehicle has been described. However, the moving speed of the candidate vehicle and the candidate vehicle can be detected by any method as long as it can be detected by an autonomous sensor. Also good.

  Moreover, although the said embodiment demonstrated as what judges whether the place where the candidate vehicle came out is a parking space in step S18, such a judgment does not necessarily need to be performed in step S18. . In this case, between step S4 and step S5, it may be determined whether the place where the candidate vehicle has come out is a parking space, and when it is determined that it is a parking space, the process may proceed to step S5.

DESCRIPTION OF SYMBOLS 1 ... Parking assistance apparatus, 11 ... Communication apparatus, 12 ... Sensor (object detection sensor), 20 ... Parking assistance ECU (parking assistance apparatus), 21 ... Parking space detection part, 22 ... Object detection part, 23 ... Position environment detection part 24 ... Judgment unit 25 ... Parking support unit 31 ... Hazard lamp 32 ... Steering 33 ... Brake 34 ... Engine 35 ... Display

Claims (6)

A candidate vehicle that is likely to be released by an object detection sensor that detects an object existing around the host vehicle, and an object detection unit that detects a moving speed of the candidate vehicle;
A position environment detection unit for detecting the environment of the vehicle position;
A determination unit that determines whether or not the candidate vehicle is scheduled to leave;
With
The determination unit determines that the candidate vehicle is scheduled to leave when the host vehicle is in a parking lot and the moving speed of the candidate vehicle is equal to or lower than a predetermined speed.
Parking assistance device. The object detection unit detects the candidate vehicle based on presence or absence of reception of a sensor signal emitted from another vehicle.
The parking assistance device according to claim 1. The object detection unit detects an object protruding from a stationary object as the candidate vehicle;
The parking assistance device according to claim 1 or 2. The position environment detection unit determines that the host vehicle is in a parking lot when the surroundings of the host vehicle is an environment in which a plurality of vehicles are arranged in parallel.
The parking assistance apparatus as described in any one of Claims 1-3. When it is determined that the candidate vehicle is scheduled to leave, parking assistance is performed in the space where the candidate vehicle was parked.
The parking assistance device according to any one of claims 1 to 4. When it is determined that the candidate vehicle is scheduled to leave, it is determined whether the space where the candidate vehicle is parked is a space that can be parked. Parking assistance,
The parking assistance device according to any one of claims 1 to 4.

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