JP6044335B2 - Parking assistance device, parking assistance system, and parking assistance method - Google Patents

Parking assistance device, parking assistance system, and parking assistance method Download PDF

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JP6044335B2
JP6044335B2 JP2012285957A JP2012285957A JP6044335B2 JP 6044335 B2 JP6044335 B2 JP 6044335B2 JP 2012285957 A JP2012285957 A JP 2012285957A JP 2012285957 A JP2012285957 A JP 2012285957A JP 6044335 B2 JP6044335 B2 JP 6044335B2
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parking
information
vehicle
space
mode
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JP2014125196A (en
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菊地 雅彦
雅彦 菊地
肇 葛西
肇 葛西
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日産自動車株式会社
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Description

  The present invention relates to a parking support device, a parking support system, and a parking support method that support a parking operation for moving a vehicle to a target parking space.

  With regard to this type of technology, when the driver determines that the vehicle has entered a start reference state where the vehicle has stopped in a direct direction with respect to the target parking area while viewing the overhead image displayed on the image display means, A parking navigation system is known that inputs a start switch at a timing to start reproduction of a parking operation navigation video (Patent Document 1).

JP 2010-208483 A (paragraphs 0018 and 0026)

  However, in the conventional technology, every time the parking support operation is executed, the processing must be started by operating a switch or the like, and there is a judgment and operation load that the driver should perform in order to execute the parking support operation. There is a problem that it is expensive.

  The problem to be solved by the present invention is to reduce a driver's operation load during execution of a parking assist operation.

The present invention refers to parking information including parking assistance activation history information collected from other vehicles and including parking assistance activation history information that is information on where parking assistance means of other vehicles has been activated, and based on the current position of the own vehicle, When the parking assist means is within a predetermined distance from the activated position , the above problem is solved by automatically activating the parking assist function of the host vehicle .
The present invention provides parking information including other vehicle parking history information acquired in advance from other vehicles in which the position of each parking space is associated with the parking mode used by the other vehicle when parking in each parking space. Refer to, calculate the recommended degree of parking mode in the parking space, select a parking mode with a higher recommended degree from a plurality of parking modes selected based on the current position of the host vehicle, and output the selected parking mode This solves the above problem.
The present invention collects from the own vehicle and / or other vehicles, and inputs whether each of the parking spaces feels that the occupant of the own vehicle and / or other vehicles feels that the parking space is narrow when parking in the parking space. With reference to the parking information including the subjective information, the higher the ratio of the number of times of input of subjective information that each occupant felt that each parking space is narrow relative to the number of parking of each parking space, the more the parking space is associated with the parking space. Select a parking mode with a high degree of recommendation from a plurality of parking modes selected based on the detected current position of the host vehicle. The above-described problem is solved by outputting the parking mode.

  According to the present invention, since the parking support process is automatically activated based on the current position of the host vehicle, it is not necessary to operate a switch or the like every time the parking support operation is executed. As a result, the driver's operation load can be reduced when the parking assist operation is executed.

It is a block diagram of the parking assistance system of embodiment which concerns on this invention. It is a concrete block block diagram of the parking assistance system of embodiment which concerns on this invention. It is a figure which shows the 1st example of the parking information of this embodiment. It is a figure which shows the 2nd example of the parking information of this embodiment. It is a figure which shows the 3rd example of the parking information of this embodiment. It is a flowchart figure which shows the control procedure of the parking assistance apparatus for vehicles which concerns on embodiment of this invention. It is a flowchart figure which shows the control procedure of the parking information management server which concerns on embodiment of this invention. It is a figure which shows an example of the installation position of the vehicle-mounted camera of this embodiment. It is a figure which shows an example of the normal output aspect of parking mode. It is a figure which shows the 1st example of the output aspect of the selected parking mode. It is a figure which shows the 2nd example of the output mode of the selected parking mode. It is a figure which shows an example of the screen for the setting of a target parking space. It is a 1st figure for demonstrating an example of the movement path | route to a target parking space. It is a 2nd figure for demonstrating an example of the movement path | route to a target parking space.

  Hereinafter, the parking support device according to the present invention is applied to the vehicle parking support system 100V, and the parking support system according to the present invention is applied to the parking support system 1000 including the vehicle parking support system 100V and the parking information management server 2000. A case will be described as an example.

  FIG. 1 is a block diagram of a parking assistance system 1000 according to this embodiment of the present invention. As shown in FIG. 1, the parking support system 1000 of this embodiment includes a vehicle parking support system 100 </ b> V mounted on the host vehicle and the other vehicle VX, and a parking information management server 2000.

  The parking support system 1000 of the present embodiment includes a parking information management server 2000 that can exchange information with each other, and a vehicle parking support system 100V that is mounted on the host vehicle V and a plurality of other vehicles VX (probe vehicles). A so-called probe car system is provided. The communication method between the parking information management server 2000 and the vehicle parking assistance system 100V mounted on the vehicle is not particularly limited.

  The vehicle parking assistance system 100V includes a parking assistance device 100, a communication device 200, a navigation device 300, a vehicle controller 400, and an in-vehicle LAN such as a CAN (Controller Area Network). The parking assistance device 100 of the present embodiment and each of the in-vehicle devices 200, 300, and 400 are connected by a CAN (Controller Area Network) or other in-vehicle LAN so that information can be exchanged between them.

  The parking assist device 100 mounted on the vehicle supports a parking operation for moving the host vehicle to the target parking space in cooperation with various in-vehicle devices. The communication device 200 exchanges information with an external device such as the parking information management server 2000. The navigation device 300 includes a current position detection device 301, accessible map information 303, and a route search device 302 that executes a route search with reference to the map information. The vehicle controller 400 controls driving of the vehicle. The plurality of other vehicles VX on which the parking assistance device 100 is mounted function as probe cars that provide information to the parking assistance management server 2000. A plurality of other vehicles VX equipped with the parking assistance device 100 use information acquired from the parking assistance management server 2000.

  FIG. 2 is a specific configuration diagram of the vehicle parking assistance system 100V according to the embodiment of the present invention. The vehicle parking assistance system 100V is mounted on the vehicle V and parks the host vehicle V in a target parking space set by the driver in a parking mode desired by the driver (parallel parking, parallel parking, diagonal parking, etc.). It is a device that supports the operation. As illustrated in FIG. 2, the parking assistance system 100V for a vehicle includes a parking assistance device 100 that controls execution of parking assistance processing, a communication device 200, a vehicle controller 400, cameras 1a to 1d, and an image processing device 2. With. Furthermore, the vehicle parking assistance system 100 </ b> V includes a vehicle drive device 40, a steering device 50, a vehicle speed sensor 60, and a current position detection device 301. Each of the above-described configurations can exchange information with each other via the CAN. A parking information management server 2000 shown in the figure is a computer that exchanges information with each vehicle parking support apparatus 100V and manages parking information to be described later.

Each configuration provided in the vehicle parking assistance system 100V will be described.
The parking assistance device 100 is a computer that includes a control device 10 and an input / output device 20 (touch panel display). The control device 10 is activated according to the activation command, and a ROM (Read Only Memory) 12 storing a program for supporting an operation of moving the host vehicle to the target parking space (hereinafter also referred to as a parking operation) in the selected parking mode. By executing a program stored in the ROM 12, a CPU (Central Processing Unit) 11 as an operation circuit that functions as the parking assist device 100, and a RAM (Random Access Memory) 13 that functions as an accessible storage device And comprising. The RAM 12 stores parking information P.

  The control device 10 of the parking assistance device 100 according to the present embodiment has a parking assistance function, a parking information acquisition function, a current position detection function, a parking mode selection function, and an output control function. Furthermore, the control apparatus 10 has a recommendation degree calculation function, an identifier acquisition function, and a parking assistance activation function. The control apparatus 10 of this embodiment performs each function by cooperation of the software for implement | achieving the said function, and the hardware mentioned above.

  Hereinafter, each function of the parking assistance apparatus 100 according to the present embodiment will be described.

  First, a parking support function executed by the control device 10 of the parking support apparatus 100 will be described. The parking support function is a function that supports a parking operation for moving the host vehicle to a target parking space. Specifically, the parking support function of the present embodiment is a parking mode in which the host vehicle reaches the parking space according to the parking mode corresponding to the positional relationship between the position of the host vehicle and the position of the parking space when starting the parking operation support. This is a function of calculating a route and moving the host vehicle to the parking space along the parking route. The control device 10 of the present embodiment further includes a captured image acquisition function, a composite image generation function, a parking mode selection function, and a target parking space setting function in order to execute the parking support function.

  The control device 10 of the parking assistance device 100 includes a parking assistance control unit that executes a parking assistance function. The parking support control unit reaches the target parking space according to the parking mode corresponding to the positional relationship between the position of the host vehicle V and the target parking space position when starting the parking operation support. A parking route is calculated, and the host vehicle V is moved to the target parking space along the calculated parking route.

  Although the method is not particularly limited, for example, the parking assist control unit is provided with shift range information from the AT / CVT control unit, wheel speed information from the ABS control unit, rudder angle information from the rudder angle sensor control unit, and from the ECM. The vehicle moves to the target parking space by calculating instruction information related to automatic steering based on the engine speed information and controlling the operation of the driving device 40, the steering device 50, etc. via the vehicle controller 400. To help.

  Further, the drive device 40 assists the operation of moving the vehicle V to the target parking space based on the control command signal for the EPS control unit (vehicle speed sensitive electronic control power steering system) acquired from the parking assist device 100. For example, the EPS motor of the electric power steering (EPS) included in the drive device 40 drives the power steering mechanism included in the steering device 50 based on the control command signal acquired from the parking assist device 100 to place the vehicle V in the target parking space. Supports operations when moving to PK.

  Furthermore, the steering control unit of the steering device 50 executes control of a motor or the like attached to the column shaft of the steering according to the control command of the control device 10. Specifically, the steering control unit automatically steers to follow the set steering angle based on the parking route from the current position of the vehicle to the parking space calculated by the parking assistance device 100, the set vehicle speed, and the set steering angle. It has the function to do in. In the present embodiment, a vehicle including an electric power steering will be described as an example. However, in addition to the EPS, a vehicle including a hydraulic power steering, a steer-by-wire, or the like can be realized. The content and method of parking assistance are not particularly limited, and a method known at the time of filing can be appropriately applied.

  Next, the parking information acquisition function will be described. The control device 10 of the parking assistance device 100 acquires the parking information P including information in which the position of each parking space is associated with the parking mode used when parking in the parking space.

  Hereinafter, the parking information P of this embodiment will be described. The parking information P of the present embodiment may be generated on the parking support device 100 side of the vehicle, or necessary information may be collected from each vehicle and generated on the parking information management server 2000 side described later.

  FIG. 3A shows a first example of the parking information P of the present embodiment. As shown to FIG. 3A, the positional information on one parking space and the parking mode which can be utilized in the parking space are matched. The parking information P includes information indicating that the parking space exists, that is, the parking space exists.

  The location information of the parking space is defined by point information (latitude / longitude) or area information (range specified by latitude / longitude). The parking space associated with the parking pattern may be one parking space that can accommodate one vehicle, or a parking facility that collects multiple parking spaces for one vehicle (a collection of parking spaces). It may be.

  Although not particularly limited, in the parking information P, the parking lot at home is defined as a parking space for one vehicle, and the parking lot in the service area of the expressway is defined as an aggregate (parking facility) of a plurality of parking spaces. it can. The position of one parking space can be defined by the latitude and longitude of the reference point, and parking facilities that include multiple parking spaces can be defined by the latitude and longitude of multiple points on the extension of the facility area. it can. Of course, as shown in FIG. 3A, a parking area (parking facility) including a plurality of parking spaces can be specified in a wide area, and a narrower area can be specified by small area specifying information. As shown in the figure, the parking lot (parking facility) of the facility A including a plurality of parking spaces is specified in a wide area, and one or several parking spaces are defined in the parking lot. (Location) can be specified. Such position information including small area specifying information and address specifying information is also applicable to parking information P in FIGS. 3B and 3C described later.

  The parking mode of this embodiment is an aspect according to the positional relationship between the host vehicle and the parking space when the host vehicle is moved (parked) to the parking space. The parking mode of the present embodiment includes three modes: a parallel parking mode, a parallel parking mode, and an oblique parking mode. Each of these parking modes includes left and right submodes. That is, the parking mode of the present embodiment includes at least six modes including a right or left side parallel parking mode, a right or left side parallel parking mode, and a right or left side diagonal parking mode. Further, the right side parallel parking mode and the left side parallel parking mode include a first parallel parking mode when the parking space is relatively large (when the parking space is wide) and a second parallel parking mode when the parking space is relatively narrow ( Including two sub parking modes with a small parking space).

  By the way, the parking mode utilized when parking in a certain parking space may be decided beforehand. For example, when parking in a home parking space, only the right side parallel parking mode can be used. When parking in a parking space in the highway service area A, either the right side diagonal parking mode or the left side diagonal parking mode When parking in the parking space of the shopping mall B, it may be possible to select any of the three parking modes of the right side parallel parking mode, the left side parallel parking mode, and the right side parallel parking mode. Thus, when it is going to park in a certain parking space, the parking mode according to the positional relationship of the parking space and a road may be specified. That is, each parking space and parking space group (parking facility) can be associated with one or more available parking modes in advance.

  In the parking information P of this embodiment, the parking space specified by the position information and the parking mode that can be used when parking in the parking space are related.

  The parking information P of the present embodiment includes the attribute / facility information of the parking space specified by the position information. The attribute of the parking space includes information on whether or not the parking space is on the road and identification information of the facility to which the parking space belongs.

  The parking information P of the present embodiment includes parking space information indicating that a parking space exists. The parking space information is position information of the parking space. In the present embodiment, the existence of a parking space is a premise for starting the parking support operation and setting the parking mode. Further, the parking information P may include availability information on whether each parking space is available (is vacant). This availability information can be acquired as information on whether or not each parking space is in use from the parking lot management device. When the parking information P includes the availability information, the parking information P acquired by the control device 10 may be limited to those that can be parked (vacant parking lots).

  The parking information P of the present embodiment includes host vehicle parking history information. The vehicle parking history information includes, for each parking space, a parking mode used when the host vehicle parks in the parking space in the past. This vehicle parking history information corresponds to the identification information of the parking space (parked parking space) closest to the current position at the timing when the host vehicle performed parking assistance and the parking mode used when parking in that parking space. It is obtained by attaching.

  FIG. 3B shows a second example of the parking information P of the present embodiment. As shown in FIG. 3B, the parking information P of the present embodiment is a driving in which the position of each parking space and the parking mode used when parking in each parking space are associated with each driver identifier. Includes parking history information by person.

  The parking information P shown in FIG. 3B includes parking support activation history information. The parking support activation history information includes an execution history of a parking support operation including position information collected from the own vehicle and / or another vehicle and where the parking support function is activated. The execution history of the parking assistance operation of the host vehicle is generated based on the parking date and time when the parking assistance function is activated in the past and the parking mode set at that time. The “execution history of the parking assistance operation of the own vehicle” of the parking information P shown in FIG. 3B is the parking frequency with the highest use frequency in the execution history of the most recent parking assistance operation and the history until the most recent parking assistance operation is executed. Mode.

  FIG. 3C shows a third example of the parking information P of the present embodiment. As shown in FIG. 3C, the parking information P of the present embodiment includes the position information of each parking space acquired from the other vehicle and the parking mode used by each other vehicle when parking in the parking space. Other vehicle parking history information associated in advance is included. Other vehicle parking history information also includes information regarding parking spaces that have not been used by the host vehicle.

  The parking information P of the present embodiment includes the execution history of the parking assist operation of other vehicles. The execution history of the parking assist operation of the other vehicle includes the number of times the other vehicle has parked in each parking space and the parking mode with the highest use frequency when parking in each parking space. Of course, the parking information P shown in FIG. 3C can include the execution history of the parking assist operation of the host vehicle.

  Moreover, the parking information P shown in FIG. 3C is collected from the own vehicle and / or other vehicles, and when each of the parking spaces is parked in the parking space, the passengers of the own vehicle and / or other vehicles narrow the parking space. Subjective information entered about whether or not it was felt. This subjective information is expressed as a ratio (on information / total number of parkings) of the number of times of input (on information) that the parking space is felt to be small with respect to the number of times of parking of each parking space. Subjective information includes information on whether or not a parking space that is not used by the host vehicle feels that the parking space is small if other vehicles have used it. By the way, if you feel that the parking space is small, you parked using the first right (left) tandem parking mode, which is used for a relatively large parking space, The parking space may not be large.

  The parking information P can be generated in the parking information management server 2000. As shown in FIG. 2, the parking information management server 2000 which becomes the structure of the parking assistance system 1000 of this embodiment is the information collection device 2010, the parking information generation device 2020, the parking information storage device 2030, and the parking information providing device. 2040. The information collection device 2010 collects information including the current positions of the vehicles V and VX when the parking assistance is performed and the parking mode selected when the parking assistance is performed from the own vehicle V and the other vehicle VX. The parking information generation device 2020 includes parking information P including information in which position information of each parking space and a parking mode used when parking in the parking space are associated in advance based on the collected information on parking. Is generated. The aspect of the generated parking information P is not particularly limited, and may include a part or all of the information shown in FIGS. 3A to 3C. The parking information storage device 2030 stores the generated parking information P at least temporarily. The parking information storage device 2030 sequentially stores newly generated parking information P. The parking information providing device 2040 provides the parking information P to the parking assist device 100 of each vehicle either spontaneously or upon request.

  The current position detection function of this embodiment will be described. The current position detection device 70 mounted on the vehicle detects the current position of the host vehicle. The current position detection device 301 includes a GPS (Global Positioning System), and measures the position of the vehicle using autonomous navigation that estimates the current position based on positioning data input from a gyro sensor and a distance sensor attached to a wheel. You may do.

  The parking mode selection function of this embodiment will be described. The control device 10 of the present embodiment refers to the acquired parking information P, extracts a parking space (or parking facility) having position information within a predetermined distance from the current position of the host vehicle, and is trying to park this time. One or a plurality of parking modes associated with a parking space or a plurality of parking spaces (parking facilities) is selected as a parking mode used in the current parking support process.

  If there is only one selected parking mode, it is sufficient to narrow down the parking modes used in the current parking support process. On the other hand, when a plurality of parking modes are selected, the control device 10 calculates a recommendation level for each parking mode. Incidentally, the recommendation degree of the present embodiment is a degree of high possibility that the driver actually selects. The higher the degree of recommendation, the more likely that the parking mode is actually selected by the driver. The recommendation level is calculated by a recommendation level calculation function described later.

The recommendation degree calculation function of this embodiment will be described. The control device of the present embodiment refers to the parking information P and calculates the recommended degree of the parking mode in the parking space. The degree of recommendation in the present embodiment is calculated based on the distance between the host vehicle and the parking space, the driver's own experience (history), the experience (history) of the driver of other vehicles, the subjectivity of each driver, and the like.
Hereinafter, each calculation method of the recommendation level will be described.
The control device 10 of the parking assistance device 100 calculates the recommended degree of the parking mode that is associated with the parking space that is close to the current position of the host vehicle. For example, with reference to FIG. 3B, the case where it is determined that the host vehicle exists at a position included in the position information of the parking lot of the facility A will be described as an example. As a first calculation method, since the parking mode with the highest use frequency associated with the facility A is left-parallel, the left-parallel recommendation is calculated to be high. Similarly, a case where the own vehicle is in the parking lot of the facility A and the position of the own vehicle is determined to be at the closest position specified by the address specifying information A in the facility A will be described as an example. As a second calculation method, since the parking mode with the highest use frequency associated with the address specifying information A is right parallel, the right parallel recommendation is calculated to be high. That is, the parking mode associated with the parking space closest to the own vehicle is calculated higher than the parking mode associated with the facility A where the own vehicle exists. Considering the entire facility A (the entire parking space group belonging to the facility A), the use frequency of the left parallel parking mode is the highest, but the parking space closest to the host vehicle is most likely to park the host vehicle. is there. For this reason, when the content of the parking information P of the whole parking facility (parking space group) and the parking information P of each parking space differ, the parking information P of the parking space nearest to the position of the own vehicle is employ | adopted. In this way, by calculating a high recommended value of the parking mode associated with a parking space that is close to the host vehicle, it is possible to recommend a parking mode suitable for the parking space where the driver actually parks. .

  When calculating the recommended degree of parking mode based on the distance to the parking space, at the timing when the host vehicle is traveling at a speed less than the predetermined speed and the target parking space is specified (a state in which parking support processing can be executed). It is preferable to calculate the recommendation degree. This is because the host vehicle reduces the speed and selects the target parking space, so that the timing at which the vehicle speed decreases can be estimated as the timing at which the target parking space is selected.

  Moreover, the control apparatus 10 of the parking assistance apparatus 100 refers to the parking history information included in the parking information P, and calculates the recommended degree of the parking mode. This parking history information includes parking history information of the own vehicle and parking history information of other vehicles.

  The control device 10 refers to the execution history included in the parking history information of the host vehicle, and based on the current position of the host vehicle detected by the current position detection device 70, the recommended degree of the parking mode in the parking support process to be performed from now on. Is calculated. By using the parking information P including the parking history of the host vehicle, the parking mode corresponding to the behavior of the host vehicle can be selected. If the vehicle belongs to a private vehicle or a company vehicle, there is a high tendency to park in a predetermined parking lot. By using the parking information P including the parking history of the host vehicle, a parking mode corresponding to the past parking process of the host vehicle can be selected.

  In addition, the control device 10 refers to the parking history information of the other vehicle, and calculates the recommended degree of the parking mode based on the detected current position of the host vehicle. For example, the control device 10 calculates a recommendation degree of the parking mode with the highest use frequency in the parking history of the other vehicle. This is because the parking mode frequently used by other vehicles is highly likely to be an appropriate parking mode in the parking space. By using the parking information P including the parking history of the other vehicle (other person), it is possible to select an appropriate parking mode with reference to the history of the other vehicle even in a parking space where the user has no experience. . By using the parking information P including the parking history of another vehicle (other person), it is possible to select a parking mode that is likely to be used in a parking lot that has not been used by the driver.

  Furthermore, the control device 10 of the present embodiment refers to the parking information P including the driver-specific parking history information, and determines the parking mode based on the driver identifier acquired from the host vehicle V and the detected current position of the host vehicle. Calculate the recommendation level. Specifically, the control device 10 refers to the driver-specific parking history information to which the driver identifier is attached, and calculates the recommended degree of the parking mode of the parking space existing within a predetermined distance from the current position of the host vehicle. . Although it does not specifically limit, the control apparatus 10 calculates highly the recommendation degree of the parking mode utilized in the latest parking assistance operation | movement. This is because the same driver is likely to use the same parking mode in the same parking space. The control device 10 calculates the recommended degree of the parking frequency with the highest use frequency in the history of the driver executing the parking support operation. This is because the same driver is likely to use the same parking mode again in the same parking space.

  Thus, the parking mode according to each driver | operator's own action can be selected by using the parking information P containing the parking log | history according to a driver | operator. By using the parking information P including the parking history for each driver, it is possible to select a parking mode according to each driver's preference (good / bad). Even when the vehicle is shared by a plurality of drivers, a parking mode corresponding to the behavior of each driver can be selected.

  Furthermore, the control device 10 determines that the parking mode associated with the parking space increases as the ratio of the number of times the subjective information that each occupant felt that each parking space is narrow relative to the number of parking times of each parking space increases. Calculate the recommendation level low. If the driver feels “narrow” during parking, the parking mode may not match the actual situation (relationship between the vehicle and the parking space). The result of using the first parallel parking mode for the driver to perform parallel parking in a wide space, even though the parking support device 100 has the second parallel parking mode for parallel parking in a narrow space. , May feel “narrow”. In such a case, if the recommended degree of the first parallel parking mode for parallel parking in a wide space is calculated based on only the driver's history, the same selection error may be repeated. . As described above, when the driver feels “narrow”, the combination of the parking space and the parking mode may be inappropriate, so the recommended degree of the parking mode is calculated to be low. If the recommendation level is calculated to be low, it can be prevented from being preferentially set by the output control function to be described later, and being displayed in a conspicuous position or a position where it can be easily selected, so that the same selection mistake occurs. Can be prevented. This subjective information is collected, generated, managed, and provided by the parking information management server 2000 described above.

  The parking mode selection function described above selects a highly recommended parking mode. The selection method is not particularly limited, and the control device 10 may select a parking mode having a recommended value that is equal to or greater than a predetermined value, or may select a predetermined number of parking modes in descending order of the recommended value.

  Next, the output control function will be described. The control device 10 outputs the parking mode selected by the parking mode selection function. The output destination is the touch panel display 20 and / or the execution unit of the parking support function.

  Since the control device 10 has a high degree of recommendation calculated and selects one or a plurality of parking modes recommended to the driver of the host vehicle and presents them via the touch panel display 20, parking that is likely to be used. Only the mode can be presented to the driver.

  Moreover, since the control apparatus 10 selects the parking mode of a number smaller than the number of all parking modes in order of the recommendation degree, narrows down the parking mode with the high recommendation degree and outputs it to the touch panel display 20, all the parking modes are selected. It becomes easier for the driver to visually recognize the mode than when presented.

  Furthermore, the control apparatus 10 outputs the setting instruction | command which sets the parking mode with the highest calculated recommendation degree as a parking mode at the time of starting of a parking assistance function to the execution unit of a parking assistance function. Thereby, the parking mode with the highest degree of recommendation can be automatically set as the parking mode that is actually used.

Next, the parking support activation function will be described. The control device 10 of the parking assist device 100 according to the present embodiment refers to the parking information P including the position information where the parking space exists, and based on the detected current position of the own vehicle, the own vehicle is a predetermined distance from the parking space. If it exists within the range, the parking assist function described above is activated.
Further, the control device 10 refers to the parking information P including the availability information that associates the location information of the parking space with whether or not the parking space is available (usability), and is used by the host vehicle. If the parking space exists within a predetermined distance from a possible parking space (a parking space with a flag indicating availability), the above-described parking assistance function may be activated.
The distance between the parking space for determining the timing to activate this parking support function and the host vehicle can be arbitrarily set. Specifically, the “distance between the parking space and the host vehicle” is in the range of 20 m to 0.5 m, preferably in the range of 10 m to 3 m, more preferably in the range of 5 m to 1 m, and still more preferably in the range of 2 m to 0.5 m. Can be set by range. This distance may be determined according to the speed of the host vehicle. That is, the “time until the host vehicle reaches the target parking space” may be set as the “distance between the parking space and the host vehicle”. This distance or time can also be determined for each parking facility. This is because the same parking mode may be used in a wide range depending on the parking facility. In addition, when starting the parking support function, the condition that the speed of the host vehicle is less than a predetermined value under the condition that the “distance (time) between the parking space and the host vehicle” is within a predetermined distance (time). May be added.
The driver will not attempt to park in an unavailable parking space. In this embodiment, the parking support function is activated when the vehicle approaches a parking space where the host vehicle can be used with reference to the availability information. Therefore, when the driver actually tries to park, the parking support function is provided first. Can be activated. That is, it is possible to prevent the useless control of activating the parking support function in a parking space that cannot be used.

  Usually, the parking assist function is activated by an input operation by the driver himself as a trigger. Specifically, the driver performs an input operation such as pressing a switch after specifying a target parking space where the host vehicle is actually parked. In response to this input operation, the parking support function is activated to request the specification of the target parking space for parking, the selection of the parking mode to be used, and the like.

  On the other hand, in this embodiment, when the own vehicle approaches the parking space within a predetermined distance, the parking support function is automatically activated. In other words, the parking assist function is automatically activated when a target parking space is determined by the host vehicle and parking is attempted there. This eliminates the need for the driver himself to perform input operations such as pressing a switch. As a result, it is possible to reduce the load of the input operation when the parking support process is executed.

  Moreover, the control apparatus 10 of the parking assistance apparatus 100 of this embodiment refers to the parking information P including parking assistance activation history information (execution history of the parking assistance operation), and based on the detected current position of the own vehicle. When the parking support function exists within a predetermined distance from the position where the parking support function is executed, the parking support function is automatically activated. The parking assistance activation history information includes a place where the parking assistance function of the own vehicle and / or another vehicle is activated. The place where the parking assist function is activated is highly likely to have a parking space. For this reason, in this embodiment, when the host vehicle exists within a predetermined distance from the place where the parking support function is activated, it is determined that the host vehicle exists in the vicinity of the parking space, and parking support is performed. Activate the function. This predetermined distance conforms to the above-described setting method of “distance between parking space and own vehicle”.

  Thus, in this embodiment, when the own vehicle approaches within a predetermined distance to the position where the parking support function was activated in the past, the parking support function is automatically activated. There is no need to perform input operations. Thereby, the load of input operation at the time of execution of parking assistance processing can be reduced.

  Hereinafter, based on the flowchart of FIG. 4A, the control procedure of the parking assistance apparatus 100 of the parking assistance system 1000 which concerns on this embodiment is demonstrated. The parking support process executed by the parking support apparatus 100 is roughly divided into four processes: parking support application activation (ST1), parking mode selection (ST2), target parking space setting (ST3), and parking support execution (ST4). )including. In the present embodiment, an example in which the parking assistance application activation process ST1 is executed before the parking mode selection ST2 will be described. The parking assistance application is activated by the activation operation by the occupant himself (104), and the rear of the parking mode is performed. You may make a selection.

The parking assistance device 100 of the present embodiment includes a parking assistance activation function.
In step 101, the parking assistance apparatus 100 acquires a current position and a driver identifier (ID). The current position is acquired by the current position detection device 301. The method for identifying the driver is not particularly limited. The driver identifier of the actual driver may be obtained from the identifier of the key that unlocked the vehicle. The actual driver identifier may be obtained by referring to seat position information set in advance for each driver based on the seat position adjusted after boarding the vehicle. The actual driver identifier of the driver may be acquired based on the identifier (for example, communication ID) of the terminal device carried by the driver.

  In step 102, the parking assistance apparatus 100 of this embodiment refers to the parking information P (FIGS. 3A, 3B, and 3C). The parking information P includes parking space information, parking support activation history information, and other parking support operation execution history information. Parking space information is information indicating the presence of a parking space. The parking information P includes the availability information on the parking space. The parking support activation history information includes position information where the parking support function of the host vehicle and / or other vehicle is activated.

The parking information P of this embodiment may be generated based on information acquired in advance, may be generated by the parking assist device 100 of the host vehicle V, or generated by the external parking information management server 2000. Also good.
Here, the process when the external parking information management server 2000 generates the parking information P will be described with reference to FIG. 4B. As described above, the parking information management server 2000 includes the information collection device 2010, the parking information generation device 2020, the parking information storage device 2030, and the parking information providing device 2040.

  As shown in FIG. 4B, in step 201, the information collection device 2010 of the parking information management server 2000 collects various types of information related to the parking assistance operation from each probe vehicle V (including the host vehicle and other vehicles). Specifically, the information collection device 2010 collects various types of information including a vehicle identifier, a driver identifier, a current position at the start of the parking support operation, execution information of the parking support operation, and subjective information regarding the size of the parking space. .

  In step 202, the parking information generation device 2020 generates parking information P based on the collected various information. This parking information P may be generated for each vehicle and for each driver. In addition, the parking information generation device 2020 can perform a process for identifying the parking pattern used immediately before and a process for obtaining the parking pattern used with the highest frequency in the past.

  In step 203, the parking information storage device 2030 stores the generated parking information P. This memory is updated at a predetermined cycle.

  In step 204, it is determined whether or not it is the provision timing of the parking information P. When there is an access request from the vehicle V, when the provision timing set in advance is reached, the routine proceeds to step 205 where parking information P is provided. Until the provision timing of the parking information P is reached, the information acquisition process, the generation process, and the storage process after step 201 are repeated.

  Returning to FIG. 4A, in step 103, the parking assistance device 100 of the present embodiment compares the current position information detected by the current position detection device 70 with the position information of the parking information P. If the current position of the host vehicle is within a predetermined distance from the parking space, it is determined that it is the start timing of the parking assistance operation, and the process proceeds to step 104. On the other hand, if the current position of the host vehicle is separated from the parking space by more than a predetermined distance, it is determined that the current timing is not the start timing of the parking assistance operation, and the processing after step 101 is repeated.

  In step 104, the parking assistance apparatus 100 of this embodiment starts the application (process group) which performs parking assistance operation | movement. In addition, the parking assistance apparatus 100 of this embodiment starts by the switch input of a driver | operator's starting command, etc., without performing the starting process of the parking assistance application of step 101-104, and the parking mode selection process (step 105 or later) ST2) Processing can be performed.

  And it transfers to the parking mode selection process (ST2) after step S105. In step 105, the control device 10 of the parking assistance device 100 refers to the parking information P and selects one or a plurality of parking modes based on the current position of the host vehicle. Specifically, the control device 10 of the parking assistance device 100 compares the position of the parking space included in the parking information P with the current position of the host vehicle, and extracts a parking space within a predetermined distance from the host vehicle. The control device 10 selects one or a plurality of parking modes associated with a nearby parking space where the host vehicle is predicted to park as a parking mode candidate. In this process, the control device 10 extracts one parking space closest to the host vehicle, or a plurality of parking spaces (from the first to the third) in order from the host vehicle, and is associated with the parking space. One or a plurality of parking modes may be selected as parking mode candidates.

  In step 106, the control device 10 proceeds to step 110 when one parking mode is selected, and proceeds to step 107 when a plurality of parking modes are selected.

  In step 107, the control apparatus 10 refers to the parking information P, and calculates the recommended degree of the parking mode in the parking space. The control device 10 refers to the position information of each parking space, the own vehicle parking history information, the driver-specific parking history information, and the other vehicle parking history information included in the parking information P, and calculates the recommended degree of the parking mode. In step 108, the control device 10 narrows down the parking mode selection candidates in descending order of recommendation.

  The control device 10 performs the processes of steps 121 and 122 in parallel with the processes of steps 105 to 108. In step 121, the control device 10 acquires captured images captured by the cameras 1 a to 1 d attached to a plurality of locations of the vehicle V. The cameras 1a to 1d are composed of a CCD camera or the like, and capture an image of the parking space PK around the vehicle V. FIG. 5 is a diagram illustrating an arrangement example of the cameras 1 a to 1 d mounted on the vehicle V. In the example shown in FIG. 5, the camera 1 a is disposed on the front grill portion of the vehicle V, the camera 1 d is disposed near the rear bumper, and the cameras 1 b and 1 c are disposed below the left and right door mirrors. The cameras 1a to 1d use wide-angle cameras with a wide viewing angle.

  In step 122, the control device 10 of the parking assistance device 100 causes the image processing device 2 to generate an overhead image. The image processing apparatus 2 viewed the surrounding state including the vehicle V and the parking space PK in which the vehicle V is parked from the viewpoint P (see FIG. 5) above the vehicle V based on the acquired plurality of captured images. An overhead image is generated. Image processing performed by the image processing apparatus 2 is, for example, “Masayasu Suzuki, Satoshi Chimino, Teruhisa Takano, Development of a bird's-eye view system, Preprints of the Society of Automotive Engineers of Japan, 116-07 (2007-10), 17- 22. "etc. can be used.

  In step 109, the parking mode and the bird's-eye view image are presented on the touch panel display 20. 6A to 6C are examples of image information presented on the touch panel display 20.

  As shown in FIGS. 6A to 6C, an overhead view image (top view) 21 is displayed on the left side of the screen of the touch panel display 20, and a parking mode is displayed on the right side.

  FIG. 6A shows an example in which all parking modes are displayed without considering the recommendation level. In the example shown in FIG. 6A, the left parking mode is shown on the left side of the parking mode display area, and the right parking mode is shown on the right side of the parking mode display area. The driver moves the cursor M and selects a desired parking mode.

  FIG. 6B shows an example in which parking modes are displayed in the vertical direction in descending order of recommendation. The control apparatus 10 changes and displays the arrangement | sequence of each parking mode according to a recommendation degree. In FIG. 6, the right parallel parking mode has the highest recommendation, the left parallel parking mode has the next highest recommendation, the right diagonal parking mode has the next highest recommendation, and the left diagonal parking mode has the recommendation. The next highest degree of recommendation is parallel parking mode to the left large parking space, the next highest recommendation for parallel parking to the right large parking space, and parallel parking to the right narrow parking space The example of a display when the recommendation degree of is next highest and the recommendation degree of parallel parking to the narrow parking space on the left side is the lowest is shown. Unlike FIG. 6A, right side parallel parking is displayed on the left side of the display area of the parking mode.

  In the example shown in FIG. 6B, the first to fourth places with the highest recommendation degree are arranged in order from the upper left to the lower left, and the recommendation degrees from the fifth place to the eighth place are arranged in order from the upper right to the lower right. This arrangement mode is not particularly limited, and the first parking mode of the recommended degree is arranged at the upper left, the second parking mode is arranged at the upper right, the third parking mode is arranged at the second right, Place the 4th parking mode on the 2nd left, 5th parking mode on the 3rd right, 6th parking mode on the 3rd left, 7th on the 4th right In addition, the eighth position may be arranged in the fourth row on the left.

  In this way, by placing the highly recommended parking mode on the left side of the parking mode display area that the driver may first see, the driver can easily recognize the highly recommended parking pattern. The driver can easily recognize a highly recommended parking pattern. Since the parking mode display area that the driver may first see may change depending on the layout of the image content and the like, the parking mode display area can be appropriately determined according to the layout of the image content.

  In the present embodiment, since the default position (initial display position) of the cursor M for selecting the parking mode is the upper left, the parking mode with the highest degree of recommendation is arranged and displayed on the upper left. Even if the driver is required to make a definite input by matching the initial display position of the selection cursor M with the display position of the parking mode having the highest degree of recommendation as in the present embodiment, the driver Does not move the position of the cursor M, and the approval input may be performed as it is. Thus, since it is not necessary to select the target parking mode from a plurality of parking modes, the load of the input operation is reduced.

  As shown in FIG. 6C, only a smaller number (three) of parking modes than the number of all parking modes may be displayed on the touch panel display 20 in order of the recommendation degree. As shown in the figure, only parking modes that are likely to be used are displayed, and easy-to-see image information can be provided. In this example, a parking mode with a high degree of recommendation is arranged at the highest position where the driver is likely to see first.

  Returning to FIG. 4A, in step 110, one parking mode is input from a plurality of parking modes. In this input process, the driver may be requested to perform an input operation, or the parking mode with the highest degree of recommendation may be automatically input. In addition, when the input operation is not performed for a predetermined time, the parking mode may be input on the assumption that the parking mode having the highest degree of recommendation is approved. A parking assistance process is performed based on the specific information of one parking mode that is selected and input.

  Next, the process proceeds to the target parking space setting process (ST3) after step S111.

  In step S111, the control device 10 sets a target parking space according to the parking mode finally selected in step 110. That is, the positional relationship between the current position of the host vehicle at the timing of starting the parking support process and the target parking space to which the host vehicle is moved is determined.

  The control device 10 of the present embodiment presents a target parking space setting screen (touch panel display 20) to the driver. FIG. 7 shows an example of a target parking space setting screen including the overhead image 21. As shown in FIG. 7, the bird's-eye view image 21 includes a parking space PK and a vehicle icon V indicating the current position of the host vehicle V (denoted with the same sign V as the host vehicle for convenience). Further, on the target parking space setting screen, a parking space setting frame F2 that functions as a mark at the time of setting and an obstacle avoidance frame F3 are superimposed on the overhead image 21. The parking space setting frame F2 of the present embodiment can be displayed as a vertically long or horizontally long rectangular figure corresponding to the shape of the parking space PK. The vehicle icon V is a reference position in setting the parking space PK. The target parking space setting screen may be presented on the above-described parking mode presentation screen (see FIGS. 6A to 6C).

  The captured images 22 of the cameras 1a to 1d are actually displayed on the right side of the target parking space setting screen 20 shown in FIG. When the host vehicle moves forward, the captured image 22 of the front camera 1a is displayed, and when the host vehicle moves backward, the captured image 22 of the rear camera 1d is displayed. When the host vehicle turns right or left, the captured image 22 of the right or left camera 1c or 1b is displayed.

  The control device 10 sets the parking space PK corresponding to the position of the parking space setting frame F2 superimposed and displayed on the overhead image 21 as the target parking space PK where the vehicle V is parked. The parking space setting frame F2 is displayed at a predetermined position with respect to the vehicle V. That is, the parking space setting frame F2 is accompanied with the movement of the icon of the host vehicle V. By moving the vehicle V, the driver can arbitrarily adjust the position of the parking space setting frame F2 displayed on the target parking space setting screen.

  The parking space setting frame F2 is displayed at a predetermined position with reference to the icon of the host vehicle V. The driver can adjust the position of the parking space setting frame F2 by moving the host vehicle V. The driver selects the target parking space PK in which the vehicle V is parked by superimposing the parking space setting frame F2 on the parking space PK in which the vehicle V is to be parked. The vehicle speed of the host vehicle when setting the target parking space PK is about 4 km to 20 km. The driver can finely adjust the position and direction of the parking space setting frame F2 for parking the vehicle V by operating an adjustment button (not shown) while the vehicle is stopped.

  The position of the parking space setting frame F2 superimposed on the bird's-eye view image 21 shown on the target parking space setting screen 20 can be changed as the vehicle V moves. As shown in FIG. 7, the driver can select the target parking space PK in which the vehicle V is parked by overlapping the parking space setting frame F2 on the parking space PK where the vehicle V is to be moved and parked. . Note that the driver can finely adjust the position of the parking space setting frame F2 in which the vehicle V is parked by operating an adjustment button (not shown) while the vehicle is stopped.

  Similarly, the obstacle avoidance frame F3 superimposed on the bird's-eye view image 21 is arranged at a predetermined position with respect to the vehicle V outside the parking space setting frame F2, and the position changes with the movement of the vehicle V. The obstacle avoidance frame F3 is a sign indicating a boundary between a region having a high possibility of contact with the obstacle and a region having a low possibility of contact with the obstacle. The driver can perform parking so that the vehicle V does not come into contact with the obstacle by operating the vehicle V so that there is no solid object in the obstacle avoidance frame F3. When the position of the parking space setting frame F2 is finely adjusted using the adjustment button described above, the obstacle avoidance frame F3 moves on the screen while maintaining a relative positional relationship with the parking space setting frame F2.

  The driver operates the determination button or the like at the timing when the adjustment of the position of the parking space setting frame F2 is completed, and inputs to the parking assistance device 100 that the selection of the parking space PK is completed. With this input, the positional relationship between the position of the host vehicle V and the position of the parking space when starting the parking operation support is determined. Following this, parking support execution processing ST4 after step 112 is performed.

  In step S112, on the basis of the positional relationship between the position of the host vehicle and the target parking space at the time of setting the target parking space, the parking route (the vehicle is moved to the target parking space according to the parking mode set in step 110). Vehicle travel route). Specifically, the parking assistance device 100 activates the parking assistance control unit, calculates the parking route based on the positional relationship between the current position where the vehicle V stops and parking assistance starts and the position of the target parking space PK. To do. The parking route is stored in the memory (ROM) one by one for each of the left and right parallel parking patterns, left and right parallel parking patterns (including wide and narrow patterns), and left and right diagonal parking patterns. The route corresponding to the mode is read, and the parking route is calculated based on the positional relationship between the position of the vehicle V and the position of the target parking space PK at the start of the parking support process. Although not particularly limited, the parking assistance control unit calculates a parking position of the vehicle V, that is, a curve from the parking assistance start position to the turn-back position and a curve from the turn-back position to the target parking space PK as the parking route. Although not particularly limited, the parking assist device 100 selects the target parking space PK, and when the driver relaxes the brake pedal pressure and the predetermined brake pressure is released, the acquired parking position and parking position of the target parking space PK are acquired. The execution of the parking support process based on the mode selection information is determined, and when the driver depresses the accelerator pedal, the execution of the support for the operation of parking the vehicle V in the target parking space PK along the calculated parking route is started.

  In step S113, the parking assistance device 100 of the present embodiment executes a parking assistance process. The parking assistance apparatus 100 of the present embodiment controls steering of the vehicle V so that the vehicle V moves along the parking path. The parking assistance device 100 feeds back the output values of the steering angle sensor 51 and the steering direction sensor 52 of the steering device 50 so that the movement locus of the vehicle V coincides with the calculated parking route, and the vehicle V such as an EPS motor is fed back. A command signal to the drive device 40 is calculated, and this command signal is sent to the drive device 40 or the vehicle controller 400 that controls the drive device 40.

  8A and 8B are diagrams illustrating an example of the movement of the vehicle V in the parking assistance process. The parking assistance apparatus 100 according to the present embodiment moves the vehicle V to the parking space PK along the parking route Q (see FIGS. 8A and 8B) calculated based on the current position of the vehicle V and the position of the parking space PK. When the vehicle is moved, the accelerator / brake operation by the driver is automatically controlled based on the designated control vehicle speed (set vehicle speed), and when moving at the control vehicle speed (set vehicle speed), the steering device 50 It is a type of device whose operation is automatically controlled. That is, the driver does not need to operate the steering wheel at the time of parking assistance according to the present embodiment. In addition, the method of operation control of the own vehicle at the time of parking is not particularly limited, and both the accelerator / brake and the accelerator / brake operation can be automatically performed.

  As shown in FIG. 8A, the driver adjusts the position of the host vehicle V so that the parking space setting frame F2 overlaps the target parking space PK. By this operation, the target parking space PK is set. The host vehicle V is stopped at a position V0 next to the target parking space PK. Thereafter, when the driver depresses the accelerator, the parking assist operation is started. Steering is automatically controlled. The host vehicle V follows the parking route Q1 and moves diagonally forward to the right. The driver depresses the brake and temporarily stops the host vehicle V at the position V1. Subsequently, when the driver switches the gear to the back position and depresses the accelerator, the own vehicle V moves backward from the position V1 along the parking route Q2, passes through the position V2, enters the parking space PK, and moves to the position V3. Stop at. Steering is automatically controlled while moving on the parking route Q2. In this parking support execution process, the parking support device 100 controls the drive device 40 based on the preset vehicle speed calculated in advance so that the vehicle V moves along the parking route Q1, and at the preset steering angle calculated in advance. Based on this, the steering device 50 is controlled.

  Of course, the calculated parking route is displayed on the display 20 or the like without performing automatic steering, and the steering amount of the steering device 50 and the timing of turning, the brake or the accelerator are set so that the movement locus of the vehicle V coincides with the parking route. Parking assistance can also be performed by instructing the operation timing. In addition, the content disclosed at the time of filing can be applied as appropriate for the contents of parking assistance.

  The parking assistance device 100 of the present embodiment configured and operating as described above has the following effects.

  (1) According to the parking assistance device 100 of the present embodiment of the present invention, when the own vehicle approaches the parking space within a predetermined distance, the parking assistance function is automatically activated. There is no need to perform input operations such as pressing. As a result, it is possible to reduce the operation load when executing the parking support process.

  (2) According to the parking assistance device 100 of the present embodiment of the present invention, the parking assistance function is activated when the own vehicle approaches a usable parking space with reference to the availability information. The parking support function can be activated prior to parking. That is, it is possible to prevent the useless control of activating the parking support function in a parking space that cannot be used.

  (3) According to the parking assist device 100 of the present embodiment of the present invention, the parking assist function is automatically activated when the vehicle approaches a position where the parking assist function has been activated in the past within a predetermined distance. Therefore, it is not necessary for the driver to perform input operations such as pressing the switch. Thereby, the operation load at the time of execution of parking assistance processing can be reduced.

  (4) According to the parking assistance device 100 of the present embodiment of the present invention, a parking mode suitable for the target parking space to be parked is selected based on the current position of the host vehicle. The driver can automatically select the parking mode that is most likely to be selected, so the driver determines the situation each time the parking assistance operation is executed, and parks from the multiple parking modes presented. There is no need to operate a switch or the like to select a mode and input the selected parking mode. As a result, it is possible to reduce the operation load on the driver when the parking assist operation is executed.

(5) According to the parking assistance device 100 of the present embodiment of the present invention, referring to the parking information P including the parking history information, the degree of recommendation of the parking mode in the parking space PK is calculated, and the parking mode having a high degree of recommendation Therefore, it is possible to accurately select a parking mode that is highly likely to be actually selected by the driver.
In the recommendation level calculation process, by calculating a high recommended value for the parking mode of the parking space close to the host vehicle, it is possible to recommend a suitable parking mode for a parking space with a high possibility of parking.
In the recommendation degree calculation process, the parking mode corresponding to the behavior of the host vehicle can be selected by referring to the execution history included in the parking history information of the host vehicle.

  (6) According to the parking assistance device 100 of the present embodiment of the present invention, the parking mode P is calculated with reference to the parking information P including the driver identifier, and the parking mode PK in the parking space PK is calculated. Therefore, it is possible to select a parking mode corresponding to each driver's own behavior. By using the parking information P including the parking history for each driver, it is possible to select a parking mode according to each driver's preference (good / bad).

  (7) According to the parking assistance device 100 of the present embodiment of the present invention, the recommended degree of the parking mode in the parking space PK is calculated with reference to the parking information P including the other vehicle parking history information, and the recommended degree is high. Since the parking mode is selected, an appropriate parking mode can be selected with reference to the history of other vehicles even in a parking space where the user has no experience. By using the parking information P including the parking history of another vehicle (other person), it is possible to select a parking mode that is likely to be used in a parking lot that has not been used by the driver.

  (8) According to the parking assistance device 100 of the present embodiment of the present invention, the recommended degree of the parking mode associated with the parking space PK based on the input ratio of subjective information that the occupant felt that the parking space was narrow. By reducing the recommended degree of combination of “parking mode” and “parking space” that other drivers felt “narrow” in the past, repeatedly select and use an inappropriate parking mode. This can be prevented.

  (9) According to the parking assistance device 100 of the present embodiment of the present invention, since the one or a plurality of parking modes are presented on the touch panel display 20 by narrowing down in order of the degree of recommendation, the parking mode that is likely to be used. Can only be presented to the driver.

  (10) According to the parking assistance device 100 of the present embodiment of the present invention, the parking mode with the highest degree of recommendation can be automatically set as the parking mode in the parking assistance processing.

  (11) According to the parking assistance system 1000 of the present embodiment of the present invention, the parking information P can be generated, stored, and provided based on the information collected from the probe vehicle V. The parking support function can be automatically activated even when there is no parking space.

  (12) With the parking support method of the present invention, the same operations and effects as the parking support device 100 and the parking support system 1000 can be achieved.

  It should be noted that all the embodiments described above are described for facilitating the understanding of the present invention, and are not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  In this specification, the parking support system 1000 having the parking support device 100 mounted on the vehicle V will be described as an example of the parking support system according to the present invention. However, the present invention is not limited to this. Absent.

  In this specification, the parking support device 100 and the vehicle V are mounted as one aspect of a parking support system including the parking support device according to the present invention and a device mounted on the vehicle V (including the host vehicle and other vehicles). The parking support system 1000 including the vehicle controller 400, the driving device 40, the steering device 50, the vehicle speed sensor 60, and the current position detection device 301 will be described, but is not limited thereto.

  In this specification, the parking assistance system 1000 provided with the parking assistance system 100V for vehicles and the parking information management server 2000 is demonstrated as one aspect | mode of the parking assistance system provided with the parking assistance apparatus which concerns on this invention, and a parking information management server. However, the present invention is not limited to this.

  Further, in the present specification, as one aspect of a parking support device including a parking support unit, a parking information acquisition unit, a current position detection unit, and an output control unit, a parking support function, a parking information acquisition function, Although the parking assistance apparatus 100 provided with the control apparatus 10 which performs a present position detection apparatus and an output control function is demonstrated, it is not limited to this.

1000 ... Parking assistance system 100V ... Vehicle parking assistance system 100 ... Parking assistance device
10 ... Control device 11 ... CPU
12 ... ROM
13 ... RAM
DESCRIPTION OF SYMBOLS 20 ... Input / output device, touch panel display, display screen 21 ... Overhead image, parking position setting screen 40 ... Drive device 50 ... Steering device 51 ... Steering angle sensor 52 ... Steering direction sensor 200 ... Communication device 300 ... Navigation device 301 ... Current position detection device 302 ... route search device 303 ... map information 400 ... vehicle controller 500 ... CAN
DESCRIPTION OF SYMBOLS 1a-1d ... Car-mounted camera 2 ... Image processing apparatus V ... Vehicle V1-V3 ... Vehicle position P ... Parking space F2 ... Parking space setting frame F3 ... Obstacle avoidance frame 2000 ... Parking information management server 2010 ... Information collecting device 2020 ... Parking information generation device 2030 ... Parking information storage device 2040 ... Parking information providing device

Claims (12)

  1. A parking assistance device for assisting a parking operation for moving the host vehicle to a target parking space,
    Parking support means for supporting a parking operation for moving the host vehicle to the parking space;
    Parking information acquisition means for acquiring parking information collected from other vehicles , including parking assistance activation history information that is position information where the parking assistance means of the other vehicle is activated;
    Current position detecting means for detecting the current position of the host vehicle;
    Refer to the parking information, and based on the detected current position of the own vehicle, if there is within a predetermined distance from the position where the parking support means of the other vehicle is activated , the parking assistance of the own vehicle And a parking assistance activation means for activating the means.
  2. The parking support means follows a parking mode in accordance with a positional relationship between the position of the host vehicle and the position of the parking space when starting support for the parking operation, and determines a parking route from the host vehicle to the parking space. Calculate, perform a process of moving the host vehicle to the parking space along the calculated parking route,
    The parking information includes information in which a position of each parking space and a parking mode used when parking in each parking space are associated in advance,
    Parking mode selection means for referring to the acquired parking information and selecting one or a plurality of parking modes based on the detected current position of the host vehicle;
    The parking support apparatus according to claim 1 , further comprising output control means for outputting the selected parking mode.
  3. The parking information includes parking history information in which the position of each parking space is associated with the parking mode used by the vehicle when parking in the parking space.
    Referring to parking information including the parking history information, further comprising a recommendation degree calculating means for calculating a recommendation degree of the parking mode in the parking space;
    The parking assistance device according to claim 2 , wherein the parking mode selection unit selects the parking mode having the high recommendation level.
  4. Further comprising identifier acquisition means for acquiring a driver identifier for identifying a passenger using the host vehicle,
    The parking information is associated with the driver identifier ,
    The parking information includes parking history information by driver in which the position of each parking space and the parking mode used when parking in the parking space are associated in advance for each driver identifier,
    The recommendation degree calculating means refers to parking information including the driver-specific parking history information, and determines the parking mode based on the driver identifier acquired from the host vehicle and the detected current position of the host vehicle. The parking assistance device according to claim 3 , wherein a degree of recommendation is calculated.
  5. The parking information includes other vehicle parking history information obtained from other vehicles, in which the position of each parking space is associated with the parking mode used by the other vehicle when parking in the parking space. Including
    The recommendation degree calculation means, claims the reference to the parking information including the other vehicle parking history information, based on the current position of the detected vehicle, and calculates the recommendation degree of the parking mode The parking assistance apparatus according to 3 or 4 .
  6. The parking information is collected from the host vehicle and / or the other vehicle, and for each of the parking spaces, a passenger of the host vehicle and / or the other vehicle narrows the parking space when parking in the parking space. Including subjective information entered about whether or not
    The recommendation degree calculation means is associated with the parking space as the ratio of the number of times of input of the subjective information that the occupant felt that the parking space is narrow with respect to the parking number of the parking space is higher. The parking assistance device according to any one of claims 3 to 5 , wherein the parking mode recommendation degree is calculated to be low.
  7. A parking assistance device for assisting a parking operation for moving the host vehicle to a target parking space,
    When supporting the parking operation for moving the host vehicle to the parking space, according to the parking mode according to the positional relationship between the position of the host vehicle and the position of the parking space when starting the parking operation support, A parking support means for performing a process of calculating a parking route for the host vehicle to reach the parking space and moving the host vehicle to the parking space along the calculated parking route;
    Parking space information indicating the location of the parking space, information in which the position of each parking space and the parking mode used when parking in the parking space are associated in advance, and the existence of each parking space Parking information acquisition means for acquiring parking information including parking history information associated with the position and the parking mode used by the vehicle when parking in each parking space;
    Current position detecting means for detecting the current position of the host vehicle;
    Parking assistance that refers to the parking information and activates the parking assistance means when the own vehicle is present within a predetermined distance from the existing position of the parking space based on the detected current position of the own vehicle. An activation means;
    A degree of recommendation calculating means for calculating the degree of recommendation of the parking mode in the parking space with reference to parking information including the parking history information;
    Parking mode selection means for referring to the acquired parking information and selecting the parking mode with a high degree of recommendation from a plurality of parking modes selected based on the detected current position of the host vehicle;
    Output control means for outputting the selected parking mode,
    The parking information includes other vehicle parking history information acquired from other vehicles, in which the position of each parking space and the parking mode used by the other vehicle when parking in the parking space are associated in advance. ,
    The recommendation level calculating means refers to parking information including the other vehicle parking history information, and calculates the recommended level of the parking mode based on the detected current position of the host vehicle.
  8. A parking assistance device for assisting a parking operation for moving the host vehicle to a target parking space,
    When supporting the parking operation for moving the host vehicle to the parking space, according to the parking mode according to the positional relationship between the position of the host vehicle and the position of the parking space when starting the parking operation support, A parking support means for performing a process of calculating a parking route for the host vehicle to reach the parking space and moving the host vehicle to the parking space along the calculated parking route;
    Parking space information indicating the location of the parking space, information in which the position of each parking space and the parking mode used when parking in the parking space are associated in advance, and the existence of each parking space Parking information acquisition means for acquiring parking information including parking history information associated with the position and the parking mode used by the vehicle when parking in each parking space;
    Current position detecting means for detecting the current position of the host vehicle;
    Parking assistance that refers to the parking information and activates the parking assistance means when the own vehicle is present within a predetermined distance from the existing position of the parking space based on the detected current position of the own vehicle. An activation means;
    A degree of recommendation calculating means for calculating the degree of recommendation of the parking mode in the parking space with reference to parking information including the parking history information;
    Parking mode selection means for referring to the acquired parking information and selecting the parking mode with a high degree of recommendation from a plurality of parking modes selected based on the detected current position of the host vehicle;
    Output control means for outputting the selected parking mode,
    The parking information, the collected from the vehicle and / or other vehicles, for each of the parking space, felt occupant of the vehicle and / or another vehicle when parked in the parking space is narrow the parking space Including subjective information entered about whether or not
    The recommendation degree calculation means is associated with the parking space as the ratio of the number of times of input of the subjective information that the occupant felt that the parking space is narrow with respect to the parking number of the parking space is higher. Parking assistance device that calculates the recommended degree of parking mode low.
  9. The output control means, in descending order of recommendation level the calculated, to select the parking mode of fewer than all parking mode number, claim 3, characterized in that outputs only the selected parking mode The parking assistance apparatus according to any one of 8 .
  10. The output control means, claims the recommended highest degree parking mode the calculated, the setting is set as the parking mode during start-up command of the parking assist means, and outputs to the parking assist means The parking assistance apparatus as described in any one of 3-8 .
  11. The parking support device according to any one of claims 2 to 6, 9, and 10 dependent on claim 1 , and a parking information management server capable of exchanging information with each of the parking support devices. A parking assistance system comprising:
    The parking information management server
    Information collecting means for collecting information on parking including position information where the parking support means is activated from each vehicle;
    Parking information generating means for generating parking information including parking support activation history information which is position information where the parking assistance means is activated, based on the collected information on parking,
    And a parking information providing means for providing the generated parking information to each vehicle.
  12.   A parking support method for supporting a parking operation in which the host vehicle moves to a target parking space,
      Obtaining a current position of the host vehicle;
      Reference is made to parking information including parking assistance activation history information collected from other vehicles, which is position information where the parking assistance function of the other vehicle is activated, and based on the current position of the own vehicle, If the parking support function exists within a predetermined distance from the position where the parking support function is started, the step of starting the parking support function of the host vehicle;
      A parking assistance method.
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