JP6102782B2 - Parking assistance system - Google Patents

Description

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

  2. Description of the Related Art Conventionally, as described in Japanese Patent Application Laid-Open No. 2011-054116, as a vehicle parking assistance, a vehicle is parked in a parking lot, and a vacant parking position is detected and parked from a warehousing position. 2. Description of the Related Art There is known a device that instructs a vehicle on a travel route to a power position and guides the vehicle to a parking position using an automatic driving function of the vehicle.

JP 2011-054116 A JP 2008-052670 A Japanese Patent Laid-Open No. 10-275300

  However, in the above-described device, when the parking position desired by the user of the vehicle is not vacant, the vehicle must be parked at a parking position far from the desired parking position, and the convenience is low. .

  Therefore, in this technical field, there is a strong demand for the development of a parking support system that enables parking of a vehicle at the desired parking position even when the desired parking position of the vehicle user is not available at the time of warehousing.

  That is, the parking assist system according to one aspect of the present invention includes a desired parking position acquisition unit that acquires a user's desired parking position in a parking lot, and when the vehicle is parked at a parking position other than the desired parking position. A monitoring unit that determines whether or not the desired parking position is vacant in a parking lot, and when the monitoring unit determines that the desired parking position is vacant, the vehicle is moved to the desired parking position by automatic driving. And a parking control unit for parking the vehicle.

  In this parking assistance system, the parking control unit may move the vehicle from a parked position to a parking lot by automatic driving when the vehicle parked in the parking lot is delivered.

  ADVANTAGE OF THE INVENTION According to this invention, even when a user's desired parking position is not vacant at the time of warehousing of a vehicle, a vehicle can be parked in the desired parking position.

It is a block diagram which shows the structure outline | summary of the parking assistance system which concerns on one Embodiment of this invention. It is explanatory drawing which shows the parking assistance operation | movement of the parking assistance system of FIG. It is a flowchart which shows the parking assistance process in the parking assistance system of FIG. It is a flowchart which shows the monitoring process in the parking assistance system of FIG. It is a flowchart which shows the parking position selection process in the parking assistance system of FIG. It is explanatory drawing which shows the parking assistance operation | movement of the parking assistance system of FIG. It is explanatory drawing which shows the parking assistance operation | movement of the parking assistance system of FIG.

  Embodiments of the present invention will be described below with reference to the drawings. In the following description, the same or equivalent elements will be denoted by the same reference numerals, and redundant description will be omitted.

  FIG. 1 is a schematic configuration diagram of a parking assistance system 1 according to an embodiment of the present invention. FIG. 2 is an explanatory diagram of a parking lot that performs parking assistance and a parking assistance operation of the parking assistance system 1.

  As shown in FIG. 1, a parking support system 1 according to an embodiment of the present invention includes a parking support device 2 and a parking lot management facility 3 that are mounted on a vehicle. The parking assistance device 2 is an in-vehicle device mounted on a vehicle that is a parking assistance target. The parking lot management facility 3 is a facility that detects, grasps, monitors, or manages the vacant information of the parking lot where the vehicle is parked.

  As shown in FIG. 2, the parking lot 40 has a plurality of parking frames, that is, a plurality of parking positions 41. The parking lot 40 is provided with an entrance 42 through which the vehicle 50 enters and an exit 43 through which the vehicle 50 exits. The parking lot 40 is, for example, valet parking, and a user who is an occupant of the vehicle 50 gets off at the entrance 42, and the vehicle 50 is stored by automatic driving. At the time of delivery, the vehicle 50 moves from the parked parking position 41 to the exit 43 by automatic driving, and the user gets on the vehicle at the exit 43. In addition, you may apply the parking assistance system 1 which concerns on this embodiment also when a parking lot is not only for valet parking. Moreover, the entrance 42 and the exit 43 of the parking lot 40 may be provided at the same position or substantially the same position. In FIG. 2, for convenience of illustration, the reference numeral 41 is given to only a part of the parking position 41 provided in the parking lot 40, and the reference numeral 41 is omitted from all the parking positions 41.

  In FIG. 1, the parking assist device 2 includes an ECU (Electronic Control Unit) 20. The ECU 20 is an electronic control unit for executing a parking assistance operation in the parking assistance device 2, and is configured mainly by a computer including a CPU, a ROM, and a RAM, for example. The ECU 20 includes a desired parking position acquisition unit 201, a parking position selection unit 202, a monitoring unit 203, a travel route generation unit 204, an automatic driving control unit 205, and an automatic parking control unit 206.

  The desired parking position acquisition unit 201 acquires desired parking position, that is, desired parking position information, which is a parking position desired by the user of the vehicle in the parking lot. For example, when the vehicle arrives at the entrance of the parking lot and parks or enters the vehicle, the user selects the desired parking position with the parking assistance device 2 or inputs the desired parking position to the parking assistance device 2. Information is acquired. When the vehicle is parked or stored, the user selects the desired exit with the parking support device 2 or inputs it to the parking support device 2, so that the parking position near the desired exit is used as the desired parking position information. You may get it. The vehicle user is a vehicle driver or a passenger.

  The parking position selection unit 202 selects the parking position where the vehicle is to be parked when the user does not select or input the desired parking position and cannot acquire information on the desired parking position when the vehicle is stored. is there. For example, information on the parking position most frequently used by the user, information on the parking position near the most congested exit, information on the parking position near the user's home and the parking position near the exit associated with the entrance The parking position of the vehicle is selected based on part or all of the information.

  Specifically, when there is a parking position that is most frequently used by the user, the parking position is selected. When there is no parking position that is most frequently used by the user, the parking position near the exit that is least likely to be crowded is selected. If the parking position near the exit that is least likely to be crowded cannot be recognized, the parking position near the exit closest to the user's home is selected. When the parking position near the exit closest to the user's home cannot be recognized, the parking position near the exit associated with the entrance of the parking lot, for example, the parking position near the exit closest to the entrance is selected. The parking position may be selected by selecting an exit of the parking lot and selecting a parking position near the selected exit. For example, based on some or all of the exit information most commonly used by the user, the most congested exit information, the exit information closest to the user's home, and the exit information associated with the entrance. It may be selected and a parking position near the exit may be selected. Here, as the parking position near the exit, for example, a parking position closest to the exit or a parking position within a predetermined distance from the exit corresponds, and a predetermined value may be used as the predetermined distance.

  When the vehicle is parked at a parking position 41 other than the desired parking position, the monitoring unit 203 monitors whether the desired parking position is vacant in the parking lot and determines whether the desired parking position is vacant. To do. The vacant information of the parking position in the parking lot may be acquired from the communication information from the parking lot management facility 3. In this case, what is necessary is just to monitor whether the desired parking position is vacant based on the vacancy information of a parking position. In addition, when the information of whether the desired parking position is vacant can be acquired with the communication information from the monitoring part 31 of the parking lot management facility 3, installation of the monitoring part 203 may be omitted.

  The travel route generation unit 204 includes a travel route of the vehicle from the entrance to the parking position to be parked, a travel route of the vehicle from the parked parking position to the desired parking position, and a parking lot from the parked parking position or A part or all of the travel route of the vehicle to the exit is generated.

  The automatic driving control unit 205 performs automatic driving control of the vehicle. For example, control signals are sent to the drive ECU 28, the braking ECU 29, and the steering ECU 27 so that the vehicle travels according to the route generated by the traveling route generation unit 204. Output. At that time, when the hazard blinking and the blinker blinking are controlled, a control signal is appropriately output to the body ECU 26.

  The automatic parking control unit 206 performs automatic parking control of the vehicle. For example, when the vehicle enters the parking position and when the vehicle leaves the parking position, the vehicle driving control, braking control, and steering are performed. Control is performed. At that time, when the hazard blinking, the blinker blinking, and the headlight lighting are controlled, a control signal is appropriately output to the body ECU 26.

  The automatic operation control unit 205 and the automatic parking control unit 206 automatically move the vehicle 50 when it is determined that the vehicle is parked at a parking position other than the desired parking position and the desired parking position is vacant. It functions as a parking control unit that moves to a desired parking position by driving and parks the vehicle. The automatic driving control unit 205 and the automatic parking control unit 206 also have a function of moving the vehicle from the parking position to the parking lot by automatic driving when the parked vehicle is issued at the parking lot. doing.

  As the exit control, for example, when the vehicle parked in the parking lot is released, the automatic operation control is executed so that the vehicle is moved by automatic operation from the parking position where the vehicle is parked to the landing location or the exit. As this leaving operation, for example, if the user transmits a leaving control start signal to the ECU 20 using the user terminal 5 and the automatic driving control unit 205 or the like is operated, the automatic driving control up to the landing place or the exit is performed. Good. In this case, the parking lot may be an exit of the parking lot or a place different from the exit.

  Note that the desired parking position acquisition unit 201, the parking position selection unit 202, the monitoring unit 203, the travel route generation unit 204, the automatic driving control unit 205, and the automatic parking control unit 206 described above are software that realizes the respective functions in the ECU 20 or What is necessary is just to comprise by introducing a program. Further, some or all of them may be configured by individual electronic control units.

  The parking assist device 2 includes a vehicle periphery monitoring sensor 21, an operation unit 22, and a navigation device 23. The vehicle periphery monitoring sensor 21 is a sensor that detects or monitors an object or an obstacle around the vehicle. For example, a laser sensor, a millimeter wave sensor, a sonar sensor, and an image sensor are used, and some of them are used. You may use all of them. In addition, a sensor other than the sensors described above may be used as long as it can detect or monitor an object around the vehicle. The vehicle periphery monitoring sensor 21 is electrically connected to the ECU 20 and outputs a detection signal to the ECU 20.

  The operation unit 22 starts and ends at least the operation of the parking support device 2, and includes, for example, a switch that starts the operation of the parking support device 2, a switch that ends or stops the operation of the parking support device 2, and the like. . The operation unit 22 is electrically connected to the ECU 20 and outputs an operation signal to the ECU 20.

  The navigation device 23 is a device that guides the route of the vehicle. For example, the navigation device 23 has map information, is equipped with a GPS (Global Positioning System), can acquire vehicle position information, and displays the vehicle position on the map. However, the vehicle is guided or traveled through a monitor display or speaker output according to the set route. The navigation device 23 is electrically connected to the ECU 20 and outputs a vehicle position information signal and the like to the ECU 20. In the present embodiment, information indicating whether the vehicle has reached the entrance of the parking lot is output to the ECU 20. Moreover, the information of the congestion condition in the public road when leaving the parking lot exit is output to the ECU 20.

  The parking assist device 2 includes a communication unit 24, an HMI device 25, a body ECU 26, a steering ECU 27, a drive ECU 28, and a brake ECU 29.

  The communication unit 24 is a communication unit for communicating with an external device, other vehicle, facility, or the like of the parking assist device 2. For example, the function of communicating with the parking lot management facility 3, the other vehicle 4 or the on-vehicle of the other vehicle 4. A function of communicating with the apparatus and a function of communicating with the user terminal 5 are provided. The communication means with these may be communication via the Internet line, may be directly communicated through wireless communication, or may be communicated through other media. The communication unit 24 is electrically connected to the ECU 20 and inputs / outputs various information signals to / from the ECU 20.

  The HMI device 25 is an interface such as an input / output device and a switch, and corresponds to, for example, an input switch, a touch panel, a light emitting display unit, a monitor for outputting an image, a speaker for outputting an audio, and the like. The HMI device 25 is electrically connected to the ECU 20 and inputs / outputs information signals and the like to / from the ECU 20.

  The body ECU 26 is an electronic control unit that controls the operation of devices such as a headlight, a horn generator, and a hazard lamp. The body ECU 26 is electrically connected to the ECU 20 and inputs / outputs an operation control signal to / from the ECU 20.

  The steering ECU 27 is an electronic control unit that performs steering control of the vehicle. For example, a unit that controls the steering of the vehicle by performing drive control of a motor provided in the steering mechanism is used. The steering ECU 27 is electrically connected to the ECU 20 and executes steering control in response to a control signal input from the ECU 20.

  The drive ECU 28 is an electronic control unit that performs driving control of the vehicle 50, and for example, a drive ECU that controls driving of a motor or an engine mounted on the vehicle is used. The drive ECU 28 is electrically connected to the ECU 20 and executes drive control in response to a control signal input from the ECU 20.

  The brake ECU 29 is an electronic control unit that performs brake control of the brake of the vehicle. For example, a brake ECU 29 that performs brake control by adjusting the operation of a pump or a motor incorporated in a brake hydraulic circuit is used. The braking ECU 29 is electrically connected to the ECU 20 and executes braking control in response to an input of a control signal from the ECU 20.

  The parking lot management facility 3 is a facility having at least a function of detecting and managing a parking state of the parking lot, and has a function of communicating with vehicles in and near the parking lot. The parking lot management facility 3 includes a monitoring unit 31, and the monitoring unit 31 detects or monitors the vacant state of the parking position in the parking lot. That is, the monitoring unit 31 has a function of monitoring and determining whether or not the desired parking position is vacant when the vehicle is parked at a parking position other than the desired parking position. When the monitoring unit 31 detects that the desired parking position is vacant, the parking lot management facility 3 indicates that the desired parking position is vacant for vehicles parked other than the desired parking position in the parking lot. Send information. The monitoring unit 31 may detect an empty state in the parking lot using an image sensor that captures each parking position, a sensor installed at each parking position, or the like.

  Next, operation | movement of the parking assistance system which concerns on this embodiment is demonstrated.

  FIG. 3 is a flowchart showing parking support processing in the parking support system 1 according to the present embodiment.

  As shown in step S10 of FIG. 3 (hereinafter simply referred to as “S10”, the same applies to other steps S), it is first determined whether or not the vehicle has arrived at the parking entrance. This determination process is a process for determining whether or not the vehicle has arrived at the entrance or exit of a parking lot that is valet parking, and is determined based on, for example, map information and vehicle position information of the navigation device 23.

  If it is determined in S10 that the vehicle has arrived at the parking entrance, a parking system activation process is performed (S12), and a system activation check process is performed (S14). The parking system activation process is a process for reading a parking assistance process program, and the system activation check process is a process for confirming whether the activation process is properly performed. In the parking system activation process, a floor plan and a configuration diagram of a parking lot to be stored, and an arrangement position and a layout diagram of the parking position may be acquired. For example, these pieces of information may be acquired by communication with the parking lot management facility 3, or when the navigation device 23 has these pieces of information, the information may be used. Further, in a process different from the parking system activation process, a parking plan sketch and configuration diagram, and a parking position layout position and layout map may be acquired.

  The process proceeds to S16, and a desired parking position presentation process is performed. The desired parking position presentation process is a process of presenting to the vehicle user, that is, a passenger or driver, whether or not there is a parking position desired to be parked in the parking lot, and is performed by the desired parking position acquisition unit 201. For example, the presence or absence of the desired parking position may be displayed on the monitor, which is the HMI device 25, and the user may select whether or not the desired parking position is present. Moreover, instead of presenting the desired parking position, a desired exit may be presented. For example, it presents to the user of the vehicle whether there is a desired exit in the parking lot.

  Then, the process proceeds to S18, and the desired parking position acquisition unit 201 determines whether there is a desired parking position. For example, if the user selects the presence of the desired parking position when displaying the presence or absence of the desired parking position on the monitor that is the HMI device 25, it is determined that the desired parking position is present. On the other hand, when the user selects no desired parking position, it is determined that there is no desired parking position. If the desired exit is presented in S16, it may be determined whether there is a desired exit.

  If it is determined in S18 that there is no desired parking position or desired exit, a parking position selection process is performed (S20). The parking position selection process is a process of selecting a parking position where the vehicle should be parked, and is performed by the parking position selection unit 202. In this parking position selection process, a parking position that is convenient for the user is selected as a position to be parked. For example, the parking position most frequently used by the user, the parking position near the most congested exit, the parking position near the exit closest to the user's home, or the parking position near the exit associated with the entrance is the parking position of the vehicle. Selected as a position.

  Specifically, when there is a parking position that is most frequently used by the user, the parking position is selected. When there is no parking position that is most frequently used by the user, the parking position near the exit that is least likely to be crowded is selected. If the parking position near the exit that is least likely to be crowded cannot be recognized, the parking position near the exit closest to the user's home is selected. When the parking position near the exit closest to the user's home cannot be recognized, the parking position near the exit associated with the entrance of the parking lot, for example, the parking position near the exit closest to the entrance is selected. The parking position may be selected by selecting an exit of the parking lot and selecting a parking position near the selected exit.

  For example, based on some or all of the exit information most commonly used by the user, the most congested exit information, the exit information closest to the user's home, and the exit information associated with the entrance. It may be selected and a parking position near the exit may be selected. Here, as the parking position near the exit, for example, a parking position closest to the exit or a parking position within a predetermined distance from the exit corresponds, and a predetermined distance value may be used as the predetermined distance.

  If it is determined in S18 that there is a desired parking position or desired exit, and if the parking position selection process in S20 is completed, a desired parking position setting process is performed (S22). The desired parking position setting process is a process of setting a desired parking position desired by the user. When the parking position is selected in S20, the selected parking position is set as the desired parking position. If it is determined that there is a desired parking position in S18, for example, the parking position of the parking lot is displayed on the monitor that is the HMI device 25, and the user is allowed to select the desired parking position 41. The desired parking position is set as the desired parking position. In this case, one desired parking position may be selected, or a desired parking position may be selected as a desired parking range including a plurality of parking positions. If it is determined in S18 that there is a desired exit, for example, the exit of the parking lot is displayed on the monitor that is the HMI device 25, and the user is allowed to select the desired exit. A nearby parking position may be set as the desired parking position.

  Next, the process proceeds to S24, and it is determined whether or not the desired parking position is vacant in the parking lot 40. For example, this determination process acquires parking space availability information from the parking management facility 3 via the communication unit 24, and based on the parking location availability information in the actual parking lot, the desired parking position set in S22. Whether or not is free. If it is determined in S24 that the desired parking position is vacant in the parking lot, the desired parking position is determined as the parking position (S34). When it is determined in S24 that the desired parking position is not vacant in the parking lot, an empty frame search process for the entire parking lot is performed (S26). This search process is a process of determining whether or not there is an empty parking position in the parking lot, and is executed by, for example, the parking position selection unit 202.

  Then, it is determined whether or not there is a vacant parking position in the parking lot (S28). If it is determined in S28 that there is a vacant parking position in the parking lot, the vacant parking position is determined as the parking position of the vehicle (S32). When a plurality of parking positions are available, a parking position close to the desired parking position is determined as the parking position. On the other hand, if it is determined in S28 that there is no vacant parking position in the parking lot, the user is presented that there is no vacant parking position or parking frame (S30), and the process returns to S22. This presentation process is performed, for example, by displaying that there is no vacancy in the parking lot on the monitor, or by outputting that there is no vacancy in the parking lot using a speaker.

  And a process transfers to S36 and a travel route production | generation process is performed. The travel route generation process is a process of generating a travel route of the vehicle from the entrance of the parking lot that is the current position to the parking position to be parked, and is performed by the travel route generation unit 204. For example, a route from the entrance of the parking lot to the parking position determined in S34 is generated as a travel route based on the configuration diagram showing the parking position and the passage in the parking lot.

  And a process transfers to S38 and an automatic driving | operation control process is performed. The automatic driving control process is a process of performing automatic driving control so that the vehicle travels according to the travel route generated in S36, and is performed by the automatic driving control unit 205. For example, a control signal is output from the ECU 20 to the drive ECU 28, the brake ECU 29, and the steering ECU 27 so that the vehicle travels according to the travel route generated in S36. As a result, a driving machine such as a motor and an engine of the vehicle is driven, a brake operation is performed as necessary, and a steering operation is performed. This automatic driving control process is performed after a passenger such as a user gets off the vehicle. For example, the automatic operation control process may be performed after confirming the process start operation from the user. As the process start operation from the user, for example, a start operation by an operation of a remote control device such as a remote control key or a smartphone corresponds.

  And a process transfers to S40 and an automatic parking control process is performed. The automatic parking control process is a process of performing automatic parking control so that the vehicle is parked at the parking position determined in S <b> 34, and is performed by the automatic parking control unit 206. For example, control signals are output from the ECU 20 to the drive ECU 28, the brake ECU 29, and the steering ECU 27 so that the vehicle that has moved to the vicinity of the parking position to be parked by the automatic driving control process of S38 travels to the parking position, that is, the parking frame. . As a result, a driving machine such as a motor and an engine of the vehicle is driven, a brake operation is performed as necessary, a steering operation is performed, and the vehicle moves to a desired parking position.

  And if a vehicle moves to a parking position and parking is completed, a parking completion communication process will be performed (S42). The parking completion notification process is a process of notifying the user that parking has been completed, and is a process of notifying the parking position together with the user. For example, information to be communicated to the communication unit 24 is output from the ECU 20, and the communication unit 24 communicates information to be communicated to the user terminal 5. Thereby, the user can know that parking was completed and the parked position.

  As described above, according to the driving support process described above, the vehicle can be parked at the parking position desired by the user by automatic driving. Moreover, even if it is a case where the parking position which a user desires is not shown, a user's convenient parking position can be selected and a vehicle can be parked. Further, even when there is no vacancy at the parking position desired by the user, the vehicle can be parked by selecting a parking position close to it.

  FIG. 4 is a flowchart showing the monitoring process in the parking support system 1 according to the present embodiment.

  The monitoring process of FIG. 4 is a process performed when the vehicle cannot be parked at the parking position desired by the user in the driving support process of FIG. 3 or when the vehicle is not parked at the parking position desired by the user. .

  In S70 of FIG. 4, it is determined whether or not the parking position desired by the user is vacant. This determination process is a process of acquiring vacant information at the parking position of the parking lot from the parking management facility 3, and determining whether or not the user's desired parking position is vacant based on the vacant information of the parking position. For example, it is executed by the monitoring unit 203. Moreover, when the information of the desired parking position is given in advance from the parking support device 2 to the parking lot management facility 3, the monitoring unit 31 of the parking lot management facility 3 determines whether the desired parking position is vacant, You may communicate the determination result to the parking assistance apparatus 2. FIG.

  If it is determined in S70 that the parking position desired by the user is not vacant, the control process is terminated. On the other hand, when it is determined in S70 that the parking position desired by the user is vacant, a travel route generation process is performed (S72). The travel route generation process is a process of generating a travel route of the vehicle from the current parking position to the desired parking position, and is performed by the travel route generation unit 204. For example, a travel route from a current parking position to a vacant desired parking position is generated based on a configuration diagram showing a parking position and a passage in a parking lot.

  And a process transfers to S74 and an automatic driving | operation control process is performed. The automatic driving control process is a process of performing automatic driving control so that the vehicle travels according to the travel route generated in S72, and is performed by the automatic driving control unit 205. For example, a control signal is output from the ECU 20 to the drive ECU 28, the brake ECU 29, and the steering ECU 27 so that the vehicle travels according to the travel route generated in S72. As a result, a driving machine such as a motor and an engine of the vehicle is driven, a brake operation is performed as necessary, and a steering operation is performed.

  And a process transfers to S76 and an automatic parking control process is performed. The automatic parking control process is a process for performing automatic parking control so as to park the vehicle at the desired parking position, and is performed by the automatic parking control unit 206. For example, control signals are output from the ECU 20 to the drive ECU 28, the brake ECU 29, and the steering ECU 27 so that the vehicle that has moved to the vicinity of the desired parking position by the automatic driving control process in S74 travels to the desired parking position, that is, the desired parking frame. The As a result, a driving machine such as a motor and an engine of the vehicle is driven, a brake operation is performed as necessary, a steering operation is performed, and the vehicle 50 moves to a desired desired parking position.

  And if a vehicle moves to a desired parking position and parking is completed, a parking completion communication process will be performed (S78). The parking completion notification process is a process of notifying the user that parking at the desired parking position is completed, and is a process of notifying the parking position parked therewith. For example, information to be communicated to the communication unit 24 is output from the ECU 20, and the communication unit 24 communicates information to be communicated to the user terminal 5. Thereby, the user can know that the vehicle is parked at the desired parking position.

  As described above, according to the monitoring process described above, even if the vehicle is not parked at the desired parking position desired by the user, it is monitored whether the desired parking position is vacant and the desired parking position is vacant. In this case, the vehicle can be driven automatically and moved to the desired parking position for parking. For this reason, even when there is no vacancy at the desired parking position when arriving at the parking lot, the vehicle can be parked at the desired desired parking position when the desired parking position is subsequently vacated.

  FIG. 5 is a flowchart showing a parking position selection process in the parking support system 1 according to the present embodiment.

  The parking position selection process of FIG. 5 shows a specific example of the processing contents of the parking position selection process of S20 of FIG. 3, and is executed when the user does not desire the parking position or the parking lot exit. . First, in S201, a parking position candidate selection process is performed. This selection process is a process of selecting parking position candidates in consideration of user convenience. For example, a parking position that is most frequently used by the user, a parking position near the exit closest to the user's home, or a parking position near the exit associated with the entrance is selected as a parking position candidate. These parking position candidates may be selected based on past travel history information, map information, and the like recorded in the navigation device 23.

  Next, a process transfers to S202 and the confirmation process of the congestion condition of the exit of a parking lot is performed. This confirmation process is a process of confirming the congestion status of the exit close to the parking position candidate selected in S201. This confirmation process may be performed based on the information on the congestion situation of the parking lot from the parking lot management facility 3, image information obtained by imaging the parking lot, and the like.

  Next, the confirmation process of the congestion situation of the public road after an exit is performed (S203). This confirmation process is a process of confirming the congestion situation of the public road when leaving the parking lot from the exit close to the parking position candidate selected in S201. This confirmation process may be performed using traffic information of the navigation device 23 or the like.

  Then, the process proceeds to S204, and it is determined whether or not the exit time is shorter for the other exits than for the exits close to the parking position candidates. This determination process is performed based on the result of the confirmation process in S202 and S203.

  When it is determined in S204 that the exit time is shorter for the other exits than the exits close to the parking position candidates, the parking position candidate changing process is performed (S205). This change process is a process of changing a parking position where the required exit time is shorter than the parking position candidate selected in S201 as a parking position candidate.

  If it is determined in S204 that the exit time is not shorter than the exit close to the parking position candidate, and if the change process in S205 is finished, the parking position proposal process is performed. (S206). This proposal process is a process for proposing a parking position candidate of the vehicle to the user. For example, the HMI device 25 is used to display the parking position candidate on the monitor or notify the parking position candidate using a speaker. .

  It is determined whether or not a user's approval reply is obtained for the proposed parking position candidate in S206 (S207), and if the user's approval reply is obtained, the proposed parking position candidate is determined as the parking position. (S208). The user approval process may be performed by, for example, a touch operation on the touch panel or voice input. If the user's approval is not obtained in S207, a re-search process for parking position candidates is performed (S209), and the process returns to S201.

  As described above, according to the above-described parking position selection process, while selecting a parking position that the user has used as a parking position candidate for a vehicle, the congestion situation of the parking lot exit and the congestion situation of the public road after the exit Accordingly, a parking position that can be smoothly exited can be proposed to the user. And parking a vehicle at the parking position according to the proposal can leave a parking lot smoothly in a short time.

  Next, the parking assistance operation of the parking assistance system 1 according to the present embodiment and the vehicle parking according to the parking assistance operation will be described.

  FIG. 2 shows a case where the desired parking position 41a is vacant when the vehicle 50 enters the parking lot 40 and the vehicle 50 is parked at the parking position 41a.

  That is, when the user of the vehicle 50 exits when the vehicle 50 enters the parking lot 40, the parking position selection candidate 44 near the exit 43 is set. The parking position selection candidate 44 includes a plurality of parking positions 41 near the exit 43. When there is an empty parking position 41a among the parking position selection candidates 44, the vehicle 50 is parked at the empty parking position 41a. The vehicle 50 travels and moves from the entrance 42 to the parking position 41a to be parked by automatic driving control, and parks at the parking position 41a according to the automatic parking control. And when leaving the vehicle 50 parked in the parking lot 40, the vehicle 50 is moved from the parking position 41a to the exit 43 by automatic driving.

  According to such a parking assist operation, the user selects or designates the desired exit 43 or desired parking position 41a in advance, so that the vehicle 50 can be moved to the desired parking position 41a or desired parking position 41a. The vehicle 50 can be parked. Further, when the vehicle 50 parked in the parking lot 40 is to be delivered, the vehicle 50 is moved from the parking position 41a to the exit 43 by automatic driving, so that the vehicle 50 is brought to the exit 43 for a short time when the vehicle 50 is delivered. It is possible to move by, and it is possible to shorten the waiting time for delivery.

  FIG. 6 shows a case where the desired parking position 41a is not vacant and the vehicle 50 is parked at a parking position 41 other than the desired parking position 41a when the vehicle 50 enters the parking lot 40.

  That is, when the user of the vehicle 50 exits when the vehicle 50 enters the parking lot 40, the parking position selection candidate 44 near the exit 43 is set. The parking position selection candidate 44 includes a plurality of parking positions 41 near the exit 43. When there is no vacant parking position 41 among the parking position selection candidates 44, the vehicle 50 is parked at a parking position 41 other than the parking position selection candidate 44. While the vehicle 50 is parked at an undesired parking position 41, it is monitored whether the parking position 41a of the parking position selection candidate 44 is not available. And when the parking position 41a of the parking position selection candidate 44 is vacant, the vehicle 50 travels from the current parking position 41 to the parking position 41a by automatic driving control and automatic parking control, and the parking is changed.

  According to such parking support operation, even if the parking position 41a near the exit 43 desired by the user or the desired parking position 41a is not vacant at the time of warehousing, the user temporarily parks at the undesired parking position 41. In addition, by changing the parking position when the desired parking position 41a is vacant, the vehicle 50 can be parked at the desired parking position 41a before the vehicle 50 is released.

  FIG. 7 shows a parking assist operation when the vehicle 50 is parked in the parking lot 40 having a plurality of exits 43a to 43c. The parking lot 40 is provided adjacent to a building 70 such as a commercial facility, building, or factory.

  In FIG. 7, when the vehicle 50 is stored in the parking lot 40 and the exit 43c is selected as the exit when the user of the vehicle 50 leaves, if the parking position 41 near the exit 43c is empty, the parking It is conceivable to park the vehicle 50 at the position 41. In this case, if the public road 60 after exiting the exit 43c is congested and it is determined that the exit from the exit 43c cannot be performed smoothly, another exit 43a is proposed to the user. If the user approves the proposed exit 43a, the vehicle 50 is parked at the parking position 41a near the exit 43a.

  According to such parking support operation, the time required for exiting the parking lot 40 can be reduced by proposing an exit 43a that allows the user to exit more smoothly than the exit 43c that the user desires in advance. It is possible to suppress being caught in traffic after a while.

  In this parking assistance operation, after parking the vehicle 50 at the parking position 41 desired by the user, the parking position may be changed by suggesting the user to change the parking position according to the congestion situation. The proposal for changing the parking position in this case may be made by communicating the proposal information to the user terminal 5.

  As described above, according to the parking assistance system 1 according to the present embodiment, when the desired parking position is vacant, the vehicle is moved to the desired parking position by automatic driving and is parked. Even when the vehicle is parked, the vehicle can be parked at a desired parking position by changing the parking position according to the availability of the parking lot. As a result, the vehicle can be parked according to the user's desire to park even when it is crowded, and the convenience of the user can be improved.

  In addition, if you want the vicinity of the exit as the desired parking position of the vehicle, when leaving the vehicle, you can move the vehicle to the parking lot or the parking lot exit in a short time, which can shorten the waiting time for delivery it can. Therefore, the convenience for the user is high.

  As mentioned above, embodiment mentioned above demonstrates one Embodiment of the parking assistance system which concerns on this invention, The parking assistance system which concerns on this invention is not limited to what was described in the said embodiment. The parking assistance system according to the present invention may be a modification of the parking assistance system according to the embodiment described above or applied to others so as not to change the gist described in each claim.

  DESCRIPTION OF SYMBOLS 1 ... Parking assistance system, 2 ... Parking assistance apparatus, 3 ... Parking lot management facility, 4 ... Other vehicle, 5 ... User terminal, 20 ... ECU, 31 ... Monitoring part, 40 ... Parking lot, 41 ... Parking position, 41a ... Parking position (desired parking position), 42 ... Entrance, 43 ... Exit, 43a-43c ... Exit, 50 ... Vehicle, 60 ... Public road, 201 ... Desired parking position acquisition unit, 202 ... Parking position selection unit, 203 ... Monitoring unit, 204: Travel route generation unit, 205 ... Automatic driving control unit, 206 ... Automatic parking control unit.

Claims (1)

A desired parking position acquisition unit that acquires the user's desired parking position in the parking lot; and
When the vehicle is parked at a parking position other than the desired parking position, a monitoring unit that determines whether the desired parking position is vacant in the parking lot;
When the monitoring unit determines that the desired parking position is vacant, the parking control unit moves the vehicle to the desired parking position by automatic driving and parks the vehicle.
A parking assistance system comprising:

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