JP5978709B2 - Parking assistance device - Google Patents

Description

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

  Conventionally, a technique for guiding a vehicle to a target parking position in a parking space and assisting in parking the vehicle is known. For example, in Patent Document 1 (Japanese Patent Laid-Open No. 2005-035498), a margin distance is calculated according to the positional relationship between the current position of the vehicle and the position of the obstacle, and the distance to the obstacle of the vehicle is equal to or greater than this margin distance. A parking assistance device for generating a vehicle guidance route is disclosed.

JP 2005-035498 A JP 2003-246251 A

  By the way, when using the above margin distance when parking a vehicle in a narrow parking space, the margin distance is calculated based on the position of an obstacle present in the narrow parking space, so the margin distance is set to a smaller value. The Therefore, when a route is generated using the margin distance in such a case, the margin distance is set to be small even outside the parking space, so a route that approaches the obstacle outside the parking space more than necessary is generated. . When the vehicle is guided along this route, the vehicle approaches the obstacle outside the parking space more than necessary, so that there is a problem that the vehicle occupant feels uneasy about contacting the obstacle.

  An object of the present invention is to provide a parking assist device capable of appropriately maintaining a distance from an obstacle of a vehicle and reducing anxiety to a passenger during parking.

  That is, according to the parking assist device of the present invention, the distance measuring means for measuring the distance between the vehicle and the obstacle, and the vehicle to the target parking position so that the distance measured by the distance measuring means is equal to or greater than the reference distance. In the parking support apparatus including the route generation unit that generates the guidance route to be guided, the route generation unit generates the guidance route so that the reference distance outside the parking space is longer than the reference distance inside the parking space.

  According to the present invention, the guide route is generated so that the reference distance outside the parking space is longer than the reference position inside the parking space. Therefore, since the reference distance outside the parking space is set to be long, it is possible to eliminate the situation of approaching the obstacle outside the parking space more than necessary, and the distance from the obstacle of the vehicle can be appropriately maintained. . In addition, since the passenger does not feel anxiety about touching the obstacle, the anxiety to the passenger during parking can be reduced.

  In the parking assistance device according to the present invention, it is preferable that the route generation unit generates the guidance route so that the reference distance becomes longer as the distance from the target parking position of the obstacle is longer. In this case, since the reference distance is set longer with respect to the obstacle having a long distance from the target parking position, the vehicle does not approach the obstacle more than necessary at a position away from the target parking position. Anxiety about can be reduced more reliably.

  Moreover, the parking assistance apparatus according to the present invention preferably includes an alarm determination unit that determines whether to output an alarm according to the distance of the obstacle from the target parking position. In this case, since an alarm is output according to the distance from the target parking position of the obstacle, it is possible to suppress the alarm at an unnecessary timing and reliably issue the alarm at the necessary timing during parking. Thus, it becomes possible to issue an alarm at a more appropriate timing, and the anxiety to the passenger can be further reliably reduced.

  ADVANTAGE OF THE INVENTION According to this invention, while parking, while maintaining the distance from the obstruction of a vehicle appropriately, anxiety to a passenger can be reduced.

It is a schematic block diagram of the parking assistance apparatus which concerns on 1st Embodiment of this invention. It is a flowchart which shows the guidance route production | generation process in the parking assistance apparatus of FIG. It is explanatory drawing explaining the state which the parking assistance apparatus of FIG. 1 produces | generates a guidance route, and a vehicle parks according to this guidance route. It is explanatory drawing explaining the setting of the collision margin in the parking assistance apparatus of FIG. It is a graph which shows the relationship between a collision margin and the distance from a target parking position. It is a schematic block diagram of the parking assistance apparatus which concerns on 2nd Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, the same code | symbol is used for the same element or the same equivalent element, and the overlapping description is abbreviate | omitted.

  The parking assist apparatus according to the present invention is an apparatus that is mounted on the vehicle 100 and supports parking of the vehicle 100 at the target parking position P. Here, the target parking position P refers to a desired position for parking the vehicle 100 in the parking space S (see FIG. 3). In addition, the parking space S is a section allocated to the vehicle 100 and refers to an area occupied by the vehicle 100 at the time of parking. For example, an area between white lines partitioning the parking lot can be mentioned.

  As shown in FIG. 1, the parking assistance device 1 according to the first embodiment includes an obstacle detection unit 22 that detects the distance between the vehicle 100 and an obstacle, and guidance for guiding the vehicle 100 to the target parking position P. A guidance route generation unit 25 that generates a route is provided. The vehicle 100 is guided according to the guidance route generated by the guidance route generation unit 25, so that the vehicle 100 can be safely brought to the target parking position P without contacting an obstacle around the target parking position P. Can be moved.

  The obstacle detection unit 22 functions as a distance measuring unit that measures the distance between the vehicle 100 and the obstacle. The obstacle detection unit 22 detects an obstacle to be avoided by the vehicle 100 and calculates a distance between the vehicle 100 and the obstacle. Here, the obstacle refers to, for example, a wall O1 (see FIG. 3) positioned in front of the target parking position P, a vehicle O2, a vehicle O3, etc. that are present on both sides of the target parking position P, and the obstacles to the traveling of the vehicle 100. Examples include three-dimensional objects having a height of 10 cm or more. In addition, the obstacle is not limited to the above-described three-dimensional object. For example, a white line indicating a parking frame does not impede driving of the vehicle 100 but is not recommended for the vehicle 100 to ride (hereinafter referred to as a soft obstacle). Are also included. The obstacle detection unit 22 also identifies whether the obstacle is a three-dimensional object or a soft obstacle.

  Various methods can be adopted for the obstacle detection by the obstacle detection unit 22. Specifically, for example, when the camera 11 described later is used, a moving stereo method for detecting a three-dimensional object by grasping a correspondence relationship between images between different frames, a method for restoring a three-dimensional shape using a parallax image, a white line, and the like A method based on edge detection or a method based on vehicle recognition using template matching or the like can be employed. Further, when using the sonar 12, a method of detecting the reflection (echo) of the sound wave can be employed. Further, when the radar 13 is used, a method of grasping the three-dimensional shape by detecting the reflection position of the laser beam, and the road surface reflection and the reflection from the three-dimensional object are separated from the time lag in the TOF (Time Of Flight) of the pulsed light. A technique or a technique of separating a road surface and a three-dimensional object from a point sequence of accumulated laser beams can be employed.

  The guide route generation unit 25 generates a route for generating a guide route for guiding the vehicle 100 to the target parking position P so that the distance between the vehicle 100 and the obstacle measured by the obstacle detection unit 22 is equal to or greater than the reference distance. Functions as a means. Here, the reference distance indicates a safe distance between the vehicle 100 and the obstacle determined so that the vehicle 100 does not come into contact with the obstacle during parking. Hereinafter, the reference distance is referred to as a collision margin. The guide route generation unit 25 generates a guide route of the vehicle 100 that avoids the obstacle while maintaining a distance equal to or greater than the collision margin with respect to the obstacle. The guidance route generated by the guidance route generation unit 25 is a route that guides the vehicle 100 from the current position of the vehicle 100 to the target parking position P while avoiding obstacles.

  Various methods can be adopted for the route generation by the guidance route generation unit 25. For example, an A-star search using nodes can be adopted. In this A-star search method, the movement of the vehicle 100 is represented as a discrete node, and the movement of the vehicle 100 is the front and rear in the traveling direction, and the steering is turned to the right in the width direction. It is expressed by six movements of the so-called Reed-shepp car indicated by three in the state of turning to the left. And the guidance route production | generation part 25 produces | generates a guidance route by connecting a node by the combination of these six movements.

  In addition, the guidance route generation unit 25 generates the guidance route so that the longer the distance from the target parking position P of the obstacle, the longer the collision margin. In other words, the guidance route generation unit 25 increases the collision margin as the distance between the obstacle and the target parking position P becomes longer, for example, according to the heuristic distance (the distance in consideration of the direction) of the node of interest in the A-star search. Change the margin.

  With respect to the method of changing the collision margin by the guide path generation unit 25, for example, as shown in FIG. 5A, a minimum collision margin (hereinafter referred to as a minimum collision margin) is determined, and this minimum collision margin is set as a minimum value as a target. There is a method of monotonically increasing the collision margin according to the distance from the target parking position P, such as increasing the collision margin linearly or exponentially according to the distance from the parking position P.

  Further, for example, as shown in FIG. 5B, a minimum collision margin and a maximum collision margin (hereinafter referred to as a maximum collision margin) are determined, and the distance from the target parking position P is less than the first threshold value a. In this case, the collision margin is set as the minimum collision margin, and when the distance from the target parking position P is equal to or larger than the second threshold value b larger than the first threshold value a, the maximum collision margin is set and the distance from the target parking position P is first. If the threshold value a is less than the second threshold value b, the collision margin may be monotonously increased from the minimum collision margin to the maximum collision margin according to the distance from the target parking position P. The first threshold value a can be set to, for example, 5.0 m, which is the length of the vertical parking frame. In this case, a guidance route that reaches the target parking position P stably can be generated. Further, the maximum collision margin can be set to 1.0 m, for example, and by setting the maximum collision margin in this way, it is possible to prevent a situation in which an excessively large collision margin is used. Note that the guidance route generation unit 25 may generate the guidance route using only either the maximum collision margin or the minimum collision margin without using both the minimum collision margin and the maximum collision margin.

  The obstacle detection unit 22 and the guidance route generation unit 25 described above constitute a parking assistance ECU (Electronic Control Unit) 20, and the parking assistance ECU 20 includes the obstacle detection unit 22 and the guidance route generation unit 25 as well as the vehicle 100. The vehicle position detection unit 21 detects a position, the target parking position setting unit 23 sets a target parking position P, and the minimum collision margin calculation unit 24 calculates a minimum collision margin. The parking assist ECU 20 calculates the positional relationship between the vehicle 100 and the obstacle based on information detected by the sensor 10 to be described later, generates a guidance route when the vehicle 100 is parked, and contacts the vehicle 100 with the obstacle. Park without letting.

  The parking assist ECU 20 mainly includes a computer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and further includes an input signal circuit and an output signal circuit. In the parking assist ECU 20, for example, an application stored in the ROM is loaded into the RAM and executed by the CPU. The own vehicle position detection unit 21, the obstacle detection unit 22, the target parking position setting unit 23, the minimum collision margin calculation unit 24, and the guidance route generation unit 25 correspond to the above application.

  The own vehicle position detection unit 21 acquires the current position of the vehicle 100 (for example, during system operation). Specifically, the vehicle position detection unit 21 sets the position of the vehicle 100 on this coordinate, for example, with the position of the vehicle 100 during system operation as the origin (x = 0.0, y = 0.0, θ = 0.0). . Regarding the detection of the vehicle 100 by the own vehicle position detection unit 21, not only the coordinate system is used as described above, but also the absolute position such as the latitude and longitude is determined by using a position sensor such as a GPS or a geomagnetic sensor. You may make it detect as a position.

  The target parking position setting unit 23 has a function of setting a target parking position P in the parking space S. The target parking position setting unit 23 sets a relative position viewed from the position of the vehicle 100 detected by the own vehicle position detection unit 21, for example. In addition, the setting of the target parking position by the target parking position setting unit 23 may be performed by a passenger of the vehicle 100 via a user interface, for example, or may be automatically performed by the target parking position setting unit 23. . Further, the target parking position setting unit 23 uses a combination system that extracts a plurality of candidates for the target parking position P, and causes the passenger to select the target parking position P from the plurality of candidates extracted by the combination system. It may be.

  Further, the target parking position setting unit 23 sets not only the frame unit such as which parking frame, but also the target parking position P in the frame. Specifically, for example, when there are obstacles on both sides of the target parking position P, the target parking position setting unit 23 has the same distance to the obstacles on both sides and has a car stop at the farthest part. The area until the vehicle stops is set as the target parking position P, and it is further set to the left or right in consideration of ease of getting on and off, or when the vehicle 100 is a truck, etc. For example, the target parking position P may be set in front of the innermost part (for example, to secure a space for opening the hatch at the rear of the vehicle).

  Various methods can be adopted for setting the target parking position P by the target parking position setting unit 23. For example, a method using a system called IPA (Intelligent Parking Assist) or a sonar or the like is used to detect an obstacle. For example, a method of automatically setting the target parking position P at the location where the space between the objects is equal to or larger than a predetermined size may be used.

  The minimum collision margin calculation unit 24 calculates the distance between the target parking position P and the obstacle using the obstacle detected by the obstacle detection unit 22 and the target parking position P set by the target parking position setting unit 23. To do. Then, the minimum collision margin is calculated from the distance between the target parking position P and the obstacle. Specifically, the minimum collision margin calculation unit 24, for example, as shown in FIG. 4A, the collision margin D3 between the target parking position P and the vehicle O2 on the left side thereof, and the target parking position P and the vehicle on the right side thereof. The collision margin D4 with O3 is calculated as the minimum collision margin. 4B, when the vehicle O3 exists only on the right side of the target parking position P, the left side of the target parking position P using the collision margin D4 between the target parking position P and the right vehicle O3. The minimum collision margin is also set as the collision margin D4. Then, as shown in FIG. 4C, when there is no obstacle vehicle on both sides of the target parking position P, the collision between the target parking position P and the soft obstacle (parking frame line) on the left side thereof. Using the margin D5 and the collision margin D6 between the target parking position P and the soft obstacle (parking frame line) on the right side thereof, for example, a position separated from the target parking position P to the left side by twice the collision margin D5, and the target parking A position separated from the position P on the right side by twice the collision margin D6 is calculated as the minimum collision margin.

  The minimum margin value calculated by the minimum collision margin calculation unit 24 is preferably a value that is equal to or greater than an error such as a measurement error or a control error. As shown in FIG. 4 (d), the minimum collision margin calculation unit 24 compares the collision margin D8 from the target parking position P to the vehicle O4 with respect to the collision margin D7 from the target parking position P to the left vehicle O3. For example, the minimum collision margin may be calculated so that the left and right values are different as necessary.

  As shown in FIG. 1, the sensor 10, the alarm device 31, and the automatic steering device 32 are connected to the parking assist ECU 20 configured as described above.

  The sensor 10 has a function of detecting obstacles around the vehicle 100. The sensor 10 includes a camera 11, a sonar 12, and a radar 13. The camera 11 images an obstacle around the vehicle 100, and is, for example, a monocular camera or a stereo camera. The sonar 12 detects an obstacle by reflection of sound waves, and the radar 13 detects the obstacle from the reflection position of the laser beam. The obstacle information acquired by the sensor 10 is output to the parking assist ECU 20. The sensor 10 does not necessarily have to include the camera 11, the sonar 12, and the radar 13, and may have at least one of the camera 11, the sonar 12, and the radar 13.

  The alarm device 31 has a function of issuing an alarm to the passenger of the vehicle 100 that an obstacle has been approached. The alarm device 31 includes a monitor 31a and a speaker 31b. The monitor 31a provides information to the passenger by an image, and the speaker 31b provides information to the passenger by voice. In addition, the monitor 31a is a rear image of the vehicle 100 in a state in which the left and right directions are reversed as if looking at the rear with a rearview mirror, the guidance route generated by the guidance route generation unit 25, the actual route of the vehicle 100, or the rear view. Is displayed. The alarm device 31 issues an alarm to a passenger of the vehicle 100 using at least one of the monitor 31a and the speaker 31b, for example, when the distance to the obstacle of the vehicle 100 is equal to or less than the collision margin.

  The automatic steering device 32 is a device that automatically performs steering when the vehicle 100 is parked. The automatic steering device 32 includes, for example, a steering actuator that applies a steering force and a steering control unit that controls the operation of the steering actuator, and applies an assist steering force during automatic steering. As described above, the steering control unit controls the steering actuator to apply the assist steering force, thereby moving the vehicle 100 along the guidance route.

  Next, operation | movement of the parking assistance apparatus 1 of 1st Embodiment is demonstrated, referring FIG.2 and FIG.3. The process shown in FIG. 2 is a guidance route generation process executed by the parking assistance ECU 20, and is executed, for example, when the vehicle 100 moves to an initial position (for example, the lower right position of the vehicle O3 in FIG. 3). Hereinafter, a case where the wall O1, the vehicle O2, and the vehicle O3 exist as obstacles around the vehicle 100 will be described.

  First, in step S10 (hereinafter referred to as “S10” in other steps), the sensor 10 detects the wall O1, the vehicle O2, and the vehicle O3, and a process for reading the detected data is executed. At this time, information regarding the wall O1, the vehicle O2, and the vehicle O3 detected by the sensor 10 is read by the obstacle detection unit 22 and the target parking position setting unit 23.

  Then, the process proceeds to S <b> 12, and the vehicle position detection process of the vehicle 100 is executed by the vehicle position detection unit 21, and the position and distance of the wall O <b> 1 with respect to the vehicle 100 and the position of the vehicle O <b> 2 with respect to the vehicle 100 by the obstacle detection unit 22. And the distance and the position and distance of the vehicle O3 with respect to the vehicle 100 are detected (S14). Thereafter, the process proceeds to S16, where the target parking position setting unit 23 executes the target parking position setting process. At this time, the target parking position setting unit 23 sets the parking space S and the target parking position P of the vehicle 100. Note that the processing from S12 to S16 is not necessarily performed in this order, and may be performed in a different order.

  In S18, the minimum collision margin calculation unit 24 executes minimum collision margin calculation processing. Specifically, the minimum collision margin calculation unit 24, for example, the position of the wall O1, the vehicle O2, and the vehicle O3 with respect to the vehicle 100 detected by the obstacle detection unit 22, and the target parking position P set by the target parking position setting unit 23. Are used to calculate the distance between the target parking position P and the wall O1, the distance between the target parking position P and the vehicle O2, and the distance between the target parking position P and the vehicle O3. Calculate the collision margin. Here, the minimum collision margin is, for example, a collision margin D3 for the vehicle O2 and a collision margin D4 for the vehicle O3.

  Thereafter, a guidance route generation process is executed by the guidance route generation unit 25 in S20. Here, the guidance path generation unit 25 calculates the collision margin D1 for the wall O1 based on the collision margins D3 and D4 calculated by the minimum collision margin calculation unit 24. Here, the collision margin D1 is calculated according to the distance between the target parking position P and the wall O1, and is longer than the collision margins D3 and D4. Further, the guidance route generation unit 25 has a distance between the vehicle 100 and the wall O1 equal to or greater than the collision margin D1, a distance between the vehicle 100 and the vehicle O2 equal to or greater than the collision margin D3, and a distance between the vehicle 100 and the vehicle O3. The guide route is generated so that is equal to or greater than the collision margin D4. After the guidance route is generated in S20 as described above, for example, the vehicle 100 is moved to the target parking position P with automatic steering by the automatic steering device 32, and the series of processing ends.

  As described above, in the parking assistance device 1 according to the first embodiment, the obstacle detection unit 22 that measures the distance between the vehicle 100 and the obstacle, and the distance measured by the obstacle detection unit 22 is equal to or greater than the collision margin. As described above, the guidance route generation unit 25 generates a guidance route for guiding the vehicle 100 to the target parking position P. The guidance route generation unit 25 has a collision margin outside the parking space S larger than a collision margin inside the parking space S. A guide route is generated so as to be long.

  Thus, in 1st Embodiment, since a guidance path | route is produced | generated so that the collision margin D1 in the parking space S outside becomes longer than the collision margins D3 and D4 in the parking space S, the obstruction outside the parking space S The situation of approaching more than necessary (for example, the wall O1) can be eliminated, and the distance of the vehicle 100 to the wall O1, the vehicle O2, and the vehicle O3 can be appropriately maintained. In addition, since the passenger does not feel anxiety about contacting the wall O1, the vehicle O2, and the vehicle O3, the anxiety to the passenger during parking can be reduced. In this regard, in the vehicle 300 provided with the conventional parking assist device, for example, as shown in FIG. 3, the collision margin D2 with respect to the wall O1 is the same as the collision margin D3 and the collision margin D4, and is shorter than the collision margin D1. . Therefore, there is a problem in that the vehicle 300 approaches the wall O1 more than necessary and gives anxiety to the passenger.

  Moreover, in the parking assistance apparatus 1, since the guidance route generation unit 25 generates the guidance route so that the collision margin becomes longer as the distance from the target parking position P of the obstacle becomes longer, the vehicle 100 and the obstacle at the time of parking. It is possible to generate a guidance route that more appropriately maintains the distance to the. Further, when the distance between the obstacle and the target parking position P is long, the collision margin becomes long, so that the obstacle is not approached more than necessary, and the anxiety to the passenger can be more reliably reduced.

  Next, the parking assistance apparatus 101 which concerns on 2nd Embodiment is demonstrated. A parking assistance device 101 according to the second embodiment is mounted on a vehicle 200 and includes a sensor 110, a parking assistance ECU 120, an alarm device 31, and an automatic steering device 32 as shown in FIG. ing.

  The sensor 110 includes a steering sensor 114 and a wheel speed sensor 115 in addition to the camera 11, the sonar 12, and the radar 13 of the first embodiment. The steering sensor 114 is a sensor that detects the steering angle of the steering wheel of the vehicle 200, and the wheel speed sensor 115 is a sensor that detects the rotational speed of the wheels of the vehicle 200. Information regarding the steering angle of the steering wheel and the rotational speed of the wheel detected by the steering sensor 114 and the wheel speed sensor 115 is output to the parking assist ECU 120.

  The parking assist ECU 120 includes a vehicle position detection unit 121 and an alarm determination unit 125 in addition to the obstacle detection unit 22, the target parking position setting unit 23, and the minimum collision margin calculation unit 24 of the first embodiment. Has been.

  The own vehicle position detection unit 121 obtains the position of the vehicle 200 in the same manner as the own vehicle position detection unit 21 of the first embodiment, but differs from the own vehicle position detection unit 21 in that the position of the vehicle 200 is updated every moment. . In addition, the vehicle position detection unit 121 obtains the position of the vehicle 200 as a relative position from the origin, for example, with the position of the vehicle 200 at the time of system activation as the origin. Specifically, the host vehicle position detection unit 121 calculates, for example, an odometry by integrating the value of the steering angle detected by the steering sensor 114 and the value of the speed detected by the wheel speed sensor 115 (estimating the self position). ) To obtain the position of the vehicle 200 as needed.

  The alarm determination unit 125 functions as an alarm determination unit that determines whether to output an alarm according to the distance of the obstacle from the target parking position P. The alarm determination unit 125 calculates the target position from the current position of the vehicle 200, the distance between the vehicle 200 and the obstacle detected by the obstacle detection unit 22, and the target parking position P set by the target parking position setting unit 23. The distance between the parking position P and the obstacle is obtained, and it is determined whether or not the alarm device 31 outputs an alarm according to this distance. Specifically, for example, the alarm determination unit 125 causes the alarm device 31 to output an alarm when approaching an obstacle near the parking space S by a predetermined distance, and approaches the obstacle away from the parking space S by the predetermined distance. However, the alarm device 31 is controlled so as not to output the alarm. Note that the warning determination unit 125 may perform a determination process such that an alarm is output when the distance of the obstacle from the target parking position P is less than a predetermined value, and no alarm is output when the distance is greater than or equal to the predetermined value.

  The parking assist device 101 of the second embodiment configured as described above is different from the first embodiment only in that the guidance route generation process of S20 is replaced by the alarm determination process by the alarm determination unit 125, and other points are the same. This is the same as the process shown in FIG. 2 of the first embodiment.

  As described above, according to the parking assistance device 101 according to the second embodiment, in addition to the same effect as the parking assistance device 1 of the first embodiment, the warning determination unit 125 determines from the target parking position P of the obstacle. Since it is determined whether or not an alarm is output according to the distance, it is possible to suppress an alarm at an unnecessary timing when the vehicle 200 is parked, and to reliably issue an alarm at a necessary timing. Can do. Therefore, since it is possible to issue an alarm at a more appropriate timing, the passenger does not feel bothersome, and the anxiety to the passenger can be further reliably reduced.

  In addition, embodiment mentioned above demonstrated embodiment of the parking assistance apparatus which concerns on this invention, and the parking assistance apparatus which concerns on this invention is not limited to what was described in this embodiment. The parking assistance apparatus according to the present invention may be a modification of the parking assistance apparatus according to the present embodiment, or may be applied to another apparatus without changing the gist described in each claim. In addition, as a parking assistance apparatus which concerns on this invention, the parking assistance apparatus provided with the function of both 1st Embodiment and 2nd Embodiment is also contained.

  For example, in the above-described embodiment, an example in which the guidance route generation unit 25 generates the guidance route so that the collision margin becomes longer as the distance from the target parking position P of the obstacle is longer is described as preferable. Instead, the guidance route may be generated so that the longer the distance from the parking space S, the longer the collision margin. Further, for example, a determination unit that determines whether or not the distance between the parking space S and the obstacle is equal to or less than a predetermined distance is provided, and a short collision margin is provided for the obstacle that the determination unit determines to be within the predetermined distance. And a long collision margin may be set for an obstacle determined to be longer than a predetermined distance.

  In the above-described embodiment, the example in which the present invention is applied to the parking assist device that includes the automatic steering device 32 and has the automatic steering function has been described. However, the automatic steering device 32 is not limited to the case where the steering is automatically performed. For example, the present invention can be similarly applied to a parking assistance apparatus that performs steering guidance for instructing an appropriate steering amount to a driver without using the same.

DESCRIPTION OF SYMBOLS 1,101 ... Parking assistance apparatus 10, 110 ... Sensor, 20, 120 ... Parking assistance ECU, 21, 121 ... Own vehicle position detection part, 22 ... Obstacle detection part, 23 ... Target parking position setting part, 24 ... Minimum Collision margin calculation unit, 25 ... guide route generation unit, 31 ... alarm device, 32 ... automatic steering device, 125 ... alarm determination unit, D1, D2, D3, D4 ... collision margin (reference distance), O1 ... wall (obstacle) ), O2 ... vehicle (obstacle), O3 ... vehicle (obstacle), P ... target parking position, S ... parking space.

Claims (3)

Distance measuring means for measuring the distance between the vehicle and the obstacle;
In a parking assistance device comprising route generation means for generating a guidance route for guiding the vehicle to a target parking position so that the distance measured by the distance measurement means is equal to or greater than a reference distance,
The route generation means generates the guide route so that the reference distance outside the parking space is longer than the reference distance inside the parking space.
Parking assistance device. The route generation means generates the guide route so that the reference distance becomes longer as the distance from the target parking position of the obstacle is longer.
The parking assistance device according to claim 1. Comprising an alarm determination means for determining whether to output an alarm according to a distance from the target parking position of the obstacle;
The parking assistance device according to claim 1 or 2.

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