JP6216155B2 - Parking assistance device - Google Patents

Description

  The present invention relates to a parking assistance device that moves a vehicle to a target parking position designated in advance.

  In recent years, when a vehicle is parked at a predetermined parking position, a parking assistance device that supports a parking operation by generating a movement route from the current position to the target parking position by specifying the target parking position. It has been put into practical use.

  In such a parking assist device, when the driver sets a target parking frame that represents the target parking position, parking that allows the position of the target parking frame to be adjusted based on the results of past parking operations. Support devices have been proposed (for example, Patent Document 1). In addition, a parking position adjustment device that finely adjusts the stop position of a vehicle within a parking frame after parking has been proposed (for example, Patent Document 2).

JP 2006-123606 A JP 2012-116282 A

  However, since the parking assistance device described in Patent Document 1 corrects the deviation of the target parking position due to the deviation of the parking start position, the load applied to the four wheels of the vehicle is not uniform, for example, The position of the vehicle at the time of parking completion that occurs when parking is performed along the travel route generated by the vehicle when there is a decrease in the tire pressure of the vehicle or when the occupant's boarding position or baggage loading position is biased. It is not possible to correct the deviation, that is, the fact that the vehicle is parked obliquely with respect to the lane marking indicating the parking frame or that the vehicle is parked close to one lane line of the left and right lane markings. There was a problem.

  In addition, since the parking position adjusting device described in Patent Document 2 finely adjusts the position of the vehicle that has been parked once, as described above, after the parking is completed, Each time, it is necessary to finely adjust the parking position in the same way, and there is a problem that it is troublesome because the labor of the driver increases.

  The present invention has been made in view of the above problems, and an object thereof is to eliminate a deviation between a target parking position and an actual parking position when parking without a driver performing a special operation. To do.

  When the parking operation is completed, the parking assist device according to the present invention determines whether or not the vehicle is properly parked with respect to the target parking position. In order to eliminate this, the parking position is corrected when the parking operation is performed after the next time.

  That is, the parking assist device according to the present invention is captured by the imaging unit for an imaging unit that captures an image of the surroundings of the vehicle including the vehicle, and a driver of the vehicle that stops near the target parking position. A target parking position / parking method designating unit that designates a target parking position of the vehicle from the presented video and further designates a parking method to the target parking position, and the target A target movement path generation unit that generates a target movement path of the vehicle from the vicinity of the parking position to the target parking position; a parking operation execution unit that parks the vehicle according to the generated target movement path; and A parking completion determination unit that determines completion, and a calculation of a deviation amount between the target parking position and the actual position of the vehicle when the parking completion determination unit determines that parking is completed. An amount calculation unit, and a deviation amount storage unit that stores the deviation amount, and the target is based on the deviation amount calculated by performing parking in the past multiple times stored in the deviation amount storage unit. The movement path generation unit generates a target movement path that does not generate the deviation amount.

  According to the parking assist apparatus according to the present invention configured as described above, in the vehicle stopped in the vicinity of the target parking position, the imaging unit captures an image from the surroundings of the vehicle presented to the driver. The target parking position / parking method designation unit allows the driver to specify the target parking position and parking method, and the target movement route generation unit generates the target movement route of the vehicle from the vicinity of the target parking position to the target parking position. The parking operation execution unit parks the vehicle according to the generated target movement route, the parking completion determination unit determines that the parking is completed, and the deviation amount calculation unit determines that the parking is completed. The deviation amount between the vehicle position and the target parking position is calculated, and the deviation amount storage unit stores the calculated deviation amount. And, when the target movement route generation unit generates a new target movement route, based on the deviation amount at the time of completion of the past multiple times of parking stored in the deviation amount storage unit, the deviation amount does not occur. In order to generate the target movement route of the vehicle from the vicinity of the target parking position to the target parking position, it is not affected by a decrease in tire air pressure, variation in air pressure, bias in the occupant's boarding position, bias in the load position of the luggage, etc. In the target parking position, the vehicle can be parked while maintaining a predetermined positional relationship with the lane marking indicating the parking frame. Further, when the same tendency shift amount has occurred during the past parking operation, the driver does not need to give an instruction each time to correct the parking position.

  According to the parking assist device of the present invention, the driver can securely hold the vehicle in the target parking position while maintaining a predetermined positional relationship with the lane marking indicating the parking frame without performing a special operation. You can park.

It is a functional block diagram which shows schematic structure of the parking assistance apparatus which concerns on Example 1 of this invention. It is a hardware block diagram which shows the specific apparatus structure of the parking assistance apparatus which concerns on Example 1 of this invention. It is a figure which shows the specific example of the lane marking which shows a parking frame, (a) is an example enclosed by the lane marking which four sides consist of a solid line. (B) is an example in which the left and right two places are surrounded by lane markings consisting of solid lines. (C) This is an example in which the left and right sides and the back side are surrounded by lane markings composed of solid lines. (D) This is an example in which the front and rear and the left are surrounded by lane markings consisting of solid lines. (A) is a figure which shows an example of the whole structure of the parking lot which operates the parking assistance apparatus which concerns on Example 1 of this invention. (B) is a figure which shows an example of the timing which starts the operation | movement of the parking assistance apparatus which concerns on Example 1 of this invention. (C) is a figure which shows operation which designates a target parking position in the parking assistance apparatus which concerns on Example 1 of this invention. (D) is a figure which shows the designated target parking position in the parking assistance apparatus which concerns on Example 1 of this invention. (A) is a figure which shows an example of the target moving path | route of a vehicle when the parallel parking by reverse is designated in the parking assistance apparatus which concerns on Example 1 of this invention. (B) is a figure which shows an example of the target moving path | route of a vehicle when the parallel parking by advancing is designated in the parking assistance apparatus which concerns on Example 1 of this invention. (C) is a figure which shows an example of the target moving path | route of a vehicle when the parallel parking is designated in the parking assistance apparatus which concerns on Example 1 of this invention. (A) is a figure explaining the content of the parking completion judgment process at the time of reverse parking, and is a figure which shows the state which has not completed parking. (B) is a figure explaining the content of the parking completion judgment process at the time of reverse parking, and is a figure which shows the state which completed parking. (C) is a figure explaining the content of the parking completion judgment process at the time of forward parking, and is a figure which shows the state which completed parking. In the parking assistance apparatus which concerns on Example 1 of this invention, it is a figure explaining the process which calculates the deviation | shift amount of a target parking position and an actual parking position after parking completion. It is a flowchart which shows the flow of the whole process performed in the parking assistance apparatus which concerns on Example 1 of this invention. It is a flowchart which shows the flow of the parking completion determination process performed in the parking assistance apparatus which concerns on Example 1 of this invention. It is a flowchart which shows the flow of the process performed in the parking assistance apparatus which concerns on Example 1 of this invention and calculates the deviation | shift amount of a target parking position and an actual parking position.

  Hereinafter, an embodiment of a parking assistance device according to the present invention will be described with reference to the drawings.

  The present embodiment is an example in which the parking support device of the present invention is mounted on a vehicle and configured as a system that supports the parking operation of the vehicle.

(Description of the configuration of the embodiment)
First, the configuration of the apparatus will be described with reference to the drawings. As shown in FIG. 1, the parking assistance device 1 according to the present embodiment is installed in a vehicle 2 (not shown), and includes an imaging unit 10, a parking assistance start switch 15, a coordinate conversion / synthesis unit 20, and a video display unit. 30, a target parking position / parking method designation unit 40, a target movement route generation unit 50, a vehicle parameter storage unit 60, a parking operation execution unit 70, a parking completion determination unit 80, a deviation amount calculation unit 90, The shift amount storage unit 100, the stored information erasure instruction unit 110, the stored information non-reflection instruction unit 120, and a warning output unit 130 are included.

  The imaging unit 10 is installed in a vehicle 2 (not shown), and a front camera 10a that captures a front immediate area including a front end of the vehicle, a rear camera 10b that captures a rear immediate area including a rear end of the vehicle, and a left end of the vehicle The left camera 10c that captures the leftmost region including the right side, and the right camera 10d that captures the rightmost region including the right end of the vehicle.

  The parking assistance start switch 15 is a switch provided at a position where the driver can easily operate, and activates the parking assistance device 1.

  The coordinate conversion / combination unit 20 performs coordinate conversion on each of the plurality of images captured by the imaging unit 10 to generate an overhead view of the vehicle 2 looking down from the sky. 2 is synthesized around the virtual image representing 2 to generate one image.

  The video display unit 30 is installed at a position where the driver can visually recognize and displays an overhead view generated by the coordinate conversion / synthesis unit 20. The video display unit 30 has a touch panel function, and the driver can input the pressed position coordinates by pressing a predetermined position of the video display unit 30. The video display unit 30 appropriately displays an operation menu of the parking assist device 1, and the driver gives necessary instructions such as specifying a target parking position and inputting a parking method each time.

  The target parking position / parking method designating unit 40 allows the driver to designate the target parking position and parking method while viewing the video displayed on the video display unit 30.

  The target movement route generation unit 50 generates a target movement route of the vehicle 2 when parking by the designated parking method up to the target parking position designated by the target parking position / parking method designation unit 40.

  The vehicle parameter storage unit 60 stores various vehicle parameters such as vehicle body size, tire size, and steering characteristics that are used when the target movement route generation unit 50 generates the target movement route of the vehicle 2.

  The parking operation execution unit 70 actually controls the steering angle of the vehicle 2 so as to follow the target movement route of the vehicle 2 generated by the target movement route generation unit 50. In this embodiment, the accelerator operation is performed by the driver, and only the steering control is performed by the parking assist device 1.

  The parking completion determination unit 80 determines whether or not the parking operation performed by the parking operation execution unit 70 has been completed.

  The deviation amount calculation unit 90 detects a lane marking that defines the target parking position from the video imaged by the imaging unit 10. Further, when it is determined that the parking operation has been completed, the magnitude and direction of the deviation between the position where the vehicle 2 is stopped and the target parking position are calculated.

  The deviation amount storage unit 100 stores the magnitude and direction of deviation calculated by the deviation amount calculation unit 90.

  The stored information erasure unit 110 has a function of erasing the magnitude and direction of deviation stored in the deviation amount storage unit 100. Note that this erasing operation greatly changes the state of the vehicle, for example, when the tire of the vehicle 2 is replaced, when the tire pressure is adjusted, when the number of passengers changes, or when the load capacity changes greatly. Occasionally, the stored information is erased with the driver's consent.

  The stored information non-reflecting instruction unit 120 obtains the driver's consent when generating the target movement route of the vehicle 2 in the target movement route generation unit 50, and stores the past information stored in the deviation amount storage unit 100. Instructing that the magnitude and direction of the deviation generated during the parking operation should not be reflected.

  The warning output unit 130 outputs a warning to the driver by sound, voice, or display when at least one of the magnitude or direction of the deviation calculated by the deviation amount calculating unit 90 exceeds a predetermined value. .

  When the driver designates the target parking position, the obstacle detection unit 140 determines whether there is an obstacle at the designated target parking position. When it is determined that there is an obstacle, the setting of the target parking position is invalidated. The obstacle detection unit 140 detects an obstacle that may come into contact with the vehicle 2 when the parking operation execution unit 70 performs a parking operation. When an obstacle is detected, an alarm is output. Alternatively, the parking operation is stopped and the vehicle 2 is stopped.

  FIG. 2 is a hardware block diagram illustrating the parking assistance apparatus 1 shown in the functional block diagram of FIG. 1 based on a hardware configuration actually used.

    That is, as shown in FIG. 2, the parking assistance device 1 includes an imaging unit 10, a parking assistance start switch 15, an ECU (Electronic Control Unit) 200, a car navigation system 300, a liquid crystal monitor 302, an electric power steering. A controller 310, an electric power steering motor 312, and a steering wheel 314 are included.

    The configuration and function of the imaging unit 10 are as described above with reference to FIG.

    The function of the parking assistance start switch 15 is as described above with reference to FIG.

  The ECU 200 further includes a camera interface 210, an image processor 220, a microcomputer 230, a CAN driver 250, a flash ROM 222 connected to the image processor 220, an SD RAM 224, and a flash ROM 246 connected to the microcomputer 230. And a DDR (Double Data Rate) RAM 248.

  The ECU 200 performs necessary arithmetic processing. Specific contents will be described later.

  The car navigation system 300 functions as a video selector and normally displays map information output from the car navigation system 300 on the liquid crystal monitor 302. The liquid crystal monitor 302 functions as the video display unit 30 (see FIG. 1), and displays video information output from the parking assist device 1 when necessary. In addition, an interface screen that prompts the driver to input necessary information is displayed, a target parking position / parking method designation unit 40 (see FIG. 1), a stored information erasure instruction unit 110 (see FIG. 1), and a stored information non-reflection instruction. Each information input function of the unit 120 (see FIG. 1) is realized.

  The electric power steering controller 310 performs steering control of the vehicle 2 by controlling the rotation direction and the rotation amount of the electric power steering motor 312 when performing the parking operation. That is, the command function of the parking operation execution unit 70 (see FIG. 1) is realized.

  The electric power steering motor 312 controls the steering angle by rotating the steering wheel 314 included in the vehicle 2 based on an instruction from the electric power steering controller 310. That is, the actuator function of the parking operation execution unit 70 (see FIG. 1) is realized.

  The ECU 200 further includes a camera interface 210, an image processor 220, a microcomputer 230, a flash ROM 222 and an SD RAM 224 connected to the image processor 220, a flash ROM 246 and a DDR RAM 248 connected to the microcomputer 230, and a CAN driver. 250.

  The camera interface 210 performs an interface function when the video captured by the imaging unit 10 is input to the image processing processor 220 and also instructs the imaging unit 10 from the image processing processor 220 to timing the video. Implement interface functions.

  The image processor 220 is an integrated circuit dedicated to image signal processing used for performing image processing at high speed. Inside, it performs coordinate conversion, composition, video brightness correction, and drawing of trace lines on the screen. That is, the function of the coordinate transformation / synthesis unit 20 (see FIG. 1) is realized.

  The flash ROM 222 connected to the image processor 220 is used for storing information such as a surrounding map of the vehicle 2 synthesized by the image processor 220.

  The SD RAM 224 connected to the image processor 220 is used for storing information such as the surrounding map of the vehicle 2 synthesized by the image processor 220, and also a work memory for performing coordinate transformation processing and screen synthesis described later. Also used as

  The microcomputer 230 is used when performing specific image processing such as necessary numerical calculation, detection of a lane marking that defines a parking frame, and detection of an obstacle. Specifically, each operation to be executed has the following functions.

  The image recognition processing unit 232 is on the outer periphery of the target parking position, detects a lane line that defines the parking frame, determines whether or not parking is possible, and detects edge composing points that constitute the lane line. . That is, the lane line position detection function required by the deviation amount calculation unit 90 (see FIG. 1) and the parking completion determination unit 80 (see FIG. 1) is realized. In addition, the obstacle detection function of the obstacle detection unit 140 (see FIG. 1) is realized.

  The trajectory calculation unit 234 calculates a target movement route to the target parking position, and generates a parking target route to the target parking position. That is, the function of the target movement route generation unit 50 (see FIG. 1) is realized.

  The control target rudder angle calculation unit 236 extracts the steering angle at the input control target position from the parking target route, and further steers based on the difference between the control target position and the current position, and various coefficients for calculating the target steering angle. The angle is corrected and output as a target steering angle. That is, the function which produces | generates the control command value of the parking operation execution part 70 (refer FIG. 1) is implement | achieved.

  The steering angle servo calculation unit 238 calculates a current value to be supplied to the electric power steering motor 312 based on the input target steering angle, the difference between the absolute steering angle, and various coefficients for performing the steering angle servo calculation, thereby calculating the electric power. Output to the steering controller 310. That is, the function which produces | generates the control command value of the parking operation execution part 70 (refer FIG. 1) is implement | achieved.

  The deviation correction value calculation unit 240 measures the angle formed by the vehicle parked at the target parking position with respect to the lane marking and the distance to the lane marking. That is, the function of the deviation amount calculation unit 90 (see FIG. 1) is realized. Information input from the stored information non-reflecting instruction unit 120 (see FIG. 1) is used by the deviation correction value calculation unit 240.

  Based on the measurement result of the deviation correction value calculation unit 240, the vehicle abnormality estimation unit 242 detects whether or not the magnitude of the deviation and the direction of deviation when the vehicle is parked at the target parking position exceed a predetermined value. That is, the abnormal value detection function in the deviation amount calculation unit 90 (see FIG. 1) is realized.

  The deviation offset value calculation unit 244 calculates an offset amount from the normal parking target position based on the measurement result of the deviation correction value calculation unit 240. That is, the function of the deviation amount calculation unit 90 (see FIG. 1) is realized.

  The flash ROM 246 connected to the microcomputer 230 is for storing a program executed by the microcomputer 230, for storing a vehicle parameter necessary for generating a target movement route, for storing a target parking position input by a driver, and It is used for storing the magnitude and direction of deviation after parking operation. That is, the functions of the deviation amount storage unit 100 (see FIG. 1), the vehicle parameter storage unit 60 (see FIG. 1), and the target parking position / parking method designation unit 40 (see FIG. 1) are realized. In addition, according to an instruction from the stored information erasure instruction unit 110 (see FIG. 1), predetermined stored contents are erased.

  The DDR RAM 248 connected to the microcomputer 230 is used as a work memory when the microcomputer 230 performs image processing. In particular, by using the DDR RAM 248 that can exchange data at the timing of rising and falling of the clock signal, the calculation speed when performing image processing is improved.

  The CAN driver 250 connected to the microcomputer 230 communicates with the ECU 200, the car navigation system 300 connected via the CAN bus, and the electric power steering controller 310. Moreover, it utilizes for performing other communication between the microcomputer 230 and the vehicle 2 as needed.

  Hereinafter, the operation flow in the present embodiment will be described in order.

(Description of lane markings indicating parking frames)
The parking frame which comprises the parking position where the parking assistance apparatus 1 operate | moves shall be enclosed with the lane marking drawn by the white line or the yellow line on the road surface.

  Actual lane markings have various forms as shown in FIGS. FIG. 3A is an example of a lane marking W1 drawn so as to surround the four sides of the parking position.

  FIG. 3B is an example of a lane marking W2 drawn so as to define the left and right of the parking position.

  FIG. 3C is an example of a lane marking W3 drawn so as to define the left and right of the parking position and the front or rear.

  FIG. 3D is an example of a lane marking W4 drawn so as to define the front and rear of the parking position and the left or right side.

  Depending on the parking lot, there may be a case where no lane marking that defines the parking position is drawn. In a present Example, the parking lot where the division line is not drawn in this way shall be removed from a target range.

  The vehicle 2 parks by moving forward or backward with respect to the parking position where the lane markings W1, W2, W3, and W4 are drawn.

  In addition, as a method of actually parking the vehicle, there are parallel parking in which the other vehicle is parked side by side and parallel parking in which the other vehicle is parked vertically.

  The present embodiment targets parallel parking performed by moving the vehicle forward, parallel parking performed by moving the vehicle backward, and parallel parking performed by moving the vehicle backward.

(Description of how to specify the target parking position)
Next, a method for operating the parking assist device 1 and designating the target parking position will be described. FIG. 4A shows an overall view of the parking lot where the vehicle 2 is parked in an overhead view from above. Now, it is assumed that parking the vehicle 2 to the target parking position S _1.

FIG. 4B shows a coordinate conversion / synthesizing unit 20 for images captured by the front camera 10a, the rear camera 10b, the left camera 10c, and the right camera 10d that constitute the imaging unit 10 installed in the vehicle 2, respectively. 2 is an example in which coordinates are transformed as seen from above and synthesized into one image. As shown in FIG. 4 (b), around the current position P ₀ of the vehicle 2 that has been created by CG, is the image photographed by the imaging unit 10 are synthesized. Hereinafter, this image is referred to as a surrounding map I. This coordinate conversion and composition is started when the parking assistance start switch 15 is turned on, and thereafter continuously executed at predetermined time intervals. The synthesized surrounding map I is displayed on the video display unit 30 as needed. Is displayed.

The driver of the vehicle 2 stops the vehicle 2 and designates the target parking position S ₁ while confirming the surrounding map I displayed on the video display unit 30. Specifically, the driver of the vehicle 2, the target parking position S ₁ to be he parked, to move the vehicle 2 to a position where reflected into the surrounding map I displayed on the image display unit 30, where, once The vehicle 2 is stopped. Thereafter, the target parking position S ₁ in the video display unit 30 is touched with the finger F, and the coordinates of the target parking position S ₁ are input to the target parking position / parking method designation unit 40. At this time, specifically, the driver may touch one point inside the parking frame.

Coordinates entered target parking position S ₁ is sent to the shift amount calculating section 90, the shift amount calculating unit 90 detects a lane mark defining the parking space that contains the target parking position S _1, disorders in the object detection unit 140 detects that there is no obstacle to the target parking position S _1.

Detection demarcation line, four cameras constituting the imaging unit 10 (front camera 10a, the rear camera 10b, the left side camera 10c, the right side camera 10d) of the shooting an image including coordinate target parking position _{S 1} This is performed on the video shot by the camera to be selected.

  The detection of white lines and yellow lines drawn on the road surface by image processing is generally performed nowadays, and any of these methods may be used.

  For example, a lane marking composed of white lines and yellow lines drawn on a road surface is generally photographed brightly on the road surface. Therefore, a point (pixel) having a positive luminance difference with respect to the road surface is detected, and an area surrounded by the detected point and having a predetermined width is detected as an area representing a lane marking. do it. In addition, according to this method, dirt or dirt on the road surface may be detected. Therefore, after detecting a corresponding point, a constraint condition such that a plurality of detected points form a straight line is set. Apply to select a region representing a lane marking.

Further, the method for detecting an obstacle from a captured image is not limited to a specific method, and any proposed method may be used. For example, it is possible to detect an edge component extending in the vertical direction from an image captured by the imaging unit 10 and detect a region sandwiched between the detected vertical edges as an obstacle. Further, for example, a distance measuring sensor constituted by an ultrasonic sensor is arranged in a direction in which each camera (front camera 10a, rear camera 10b, left camera 10c, right camera 10d) constituting the imaging unit faces. Te, of the distance measuring sensor, on the basis of the output of the distance measuring sensor facing the range including the target parking position S _1, may detect an obstacle.

When there is no obstacle in the area surrounded by the lane marks thus detected, the position of the parking frame is determined, and the result is displayed on the video display unit 30 as shown in FIG. To display. As a result, the driver, to make sure that the target parking position S ₁ that he or she has specified could be set up correctly. Further, when an obstacle is detected in the designated parking frame, the driver's instruction is rejected and re-input is prompted.

(Explanation of target travel route generation method)
After the setting of the target parking position is completed as shown in FIG. 4D, the driver designates the parking method by the action of the target parking position / parking method designating unit 40. Although a specific screen example is not shown, a parking method to be performed is selected from a menu for selecting a parking method displayed on the video display unit 30. In this embodiment, it is assumed that parallel parking is selected by retreating.

When the parking method is designated, the target movement route from the current position P ₀ of the vehicle 2 to the target parking position S ₁ is then calculated by the action of the target movement route generation unit 50.

From the target movement path generating unit 50, as shown in FIG. 5 (a), the coordinates on the surrounding map I of the current position P ₀ of the vehicle 2, and the coordinates on the surrounding map I of the target parking position S _1, crosscut and coordinate points _{P 1,} and the current formula position _{P 0} and the arc _{M 1} connecting the crosscut point _{P 1,} and wherein the arc _{M 2} connecting crosscut point _{P 1} and the target parking position _{S 1,} but the vehicle 2 respectively target Calculated as a travel route. Information necessary for calculating the target movement route is stored in advance in the vehicle parameter storage unit 60, and is read and used as necessary.

Target traveling path generating unit 50, specifically, so as to reach the target parking position S ₁ when retracted while holding the constant steering angle from crosscut point P _1, sets the position of the crosscut point P ₁ To do. Position of the crosscut point P ₁ is set in this way it can be set plurality of ways. Then, for example, when the vehicle moves forward from the current position P ₀ while maintaining a constant steering angle, it reaches the turning point P ₁ , and further passes through the turning point P ₁ from the current position P ₀ to target parking. as the distance to reach the position S ₁ is the shortest may be set the position of the crosscut point P _1.

Then, a path consisting of the arc M ₁ from the current position P ₀ to the turning point P ₁ and a path consisting of the arc M ₂ from the turning point P ₁ to the target parking position S ₁ are set.

In the above described example, the distance has set the position of the crosscut point P ₁ such that the shortest method of setting the position of the crosscut point P ₁ is not limited thereto. For example, when the obstacle detection unit 140 detects that there is an obstacle in the vicinity of the vehicle 2, a route that can park while avoiding the detected obstacle is generated.

(Description of parking operation)
The parking operation execution part 70 (refer FIG. 1) moves the vehicle 2 along the target moving path | route set like FIG. 5 (a)-(c). At this time, the steering angle of the vehicle 2 is controlled so as to follow the set target movement route. The accelerator operation of the vehicle 2 may be performed by the driver himself or the accelerator operation may be controlled so that the vehicle 2 moves at an extremely low speed.

  When the parking operation is performed by the parking operation execution unit 70, when the driver operates the brake, the vehicle 2 is stopped on the spot for safety. The obstacle detection unit 140 detects obstacles around the vehicle 2 while the parking operation execution unit 70 performs the parking operation. When an obstacle that may come into contact with the vehicle 2 is detected, the vehicle 2 is stopped by applying a brake.

  Specifically, in the steering control during the movement of the vehicle 2, the parking operation execution unit 70 calculates a necessary steering angle from the target movement route generated by the target movement route generation unit 50 and puts it on the target movement route. The target angle is corrected by correcting the steering angle based on the difference between the target position to be advanced and the current position obtained by integrating the past vehicle speed and steering angle, and various coefficients for calculating the target steering angle. A target steering angle for following the route is determined.

  Then, based on the difference value between the determined target steering angle and the actual steering angle, and various coefficients for calculating the steering angle servo amount, the value of the current passed through the electric power steering motor 312 shown in FIG. 2 is calculated. And output to the electric power steering controller 310.

  The electric power steering controller 310 shown in FIG. 2 controls the steering angle of the vehicle 2 by causing the instructed current to flow through the electric power steering motor 312.

(Explanation of parking completion judgment method)
Even during the parking operation, the deviation amount calculation unit 90 detects the lane marking that defines the target parking position from the video imaged by the imaging unit 10 as needed.

  Then, the parking completion determination unit 80 determines whether or not the parking operation is completed as needed. FIG. 6 is a diagram for explaining a method for determining the completion of parking.

FIGS. 6 (a) shows an example of a defined target parking position stall line W _i, is performed parallel parking in retreat. Parking completion determining unit 80, among the division line W _i to define the target parking position in FIG. 6 (a), the both ends of the end points K _1, K ₂ demarcation line W _i on the side of the two left and right of the vehicle enters Whether or not parking is completed is determined based on the positional relationship between the line segment K to be performed and the line segment H having a length equal to the width of the vehicle 2 and in contact with the front end of the vehicle 2.

Incidentally, partition lines W _i is generally in order to have a width, since the position of the lane line W _i, of the points representing the boundary between the road surface, is intended to refer at the position of a point on the inside of the parking frame.

6 (b) is a target parking position which is defined by the division line W _i, performs a parallel parking in retreat, it shows how the parking operation is completed. At this time, the line segment H is located on the left side with respect to the line segment K. This is the front end of the vehicle 2, across a line K, which means that it has entered the target parking position surrounded by the division line W _i.

After confirming that the line segment H is located on the left side with respect to the line segment K, the vertical line is drawn from the end points H ₁ and H ₂ of the line segment H toward the line segment K, respectively. The legs are obtained, and the perpendicular lengths are defined as h ₁ and h ₂ , respectively.

At this time, after confirming that the legs of the perpendicular line dropped from the end points H ₁ and H ₂ of the line segment H to the line segment K are on the line segment K, the smaller one of the perpendicular lengths h ₁ and h ₂ When it is confirmed that the value (h _{2 in} the case of FIG. 6B) is larger than the predetermined value, it is determined that the parking operation is completed. That is, it is determined that parking has been completed by confirming that the vehicle 2 has entered the parking frame and that the tip of the vehicle 2 has advanced into the parking frame by a predetermined value or more.

FIG.6 (c) has shown the mode that the parking operation was completed by carrying out parallel parking in the forward direction at the target parking position prescribed _| regulated by the division line Wi.

In this case as well, the completion of the parking operation can be determined in the same manner as in the example of FIG. That is, the end point of the line segment G indicating the rear end of the vehicle 2, the reference point G ₂ that is a feature point corresponding to the left end position of the vehicle 2, and the reference point G that is a feature point corresponding to the right end position of the vehicle 2. _After confirming that the legs of the perpendicular line from ₁ to the line segment K are both on the line segment K, the smaller one of the perpendicular lengths g ₁ and g ₂ (in the case of FIG. 6C) Determines that parking is complete when g ₂ ) is greater than a predetermined value. That is, it is determined that parking has been completed by confirming that the vehicle 2 has entered the parking frame and that the rear end of the vehicle 2 has advanced into the parking frame by a predetermined value or more.

Although not shown in FIG. 6, the completion determination of the parking operation when performing parallel parking in the backward direction can also be performed according to the above-described determination method. That is, the line segment H indicating the front end of the vehicle straddles the line segment K having both ends K ₁ and K ₂ of the two left and right dividing lines on the side where the vehicle enters, and further within the parking frame for a predetermined distance. When it is determined that it has proceeded, it is determined that parallel parking has been completed.

(Description of how to calculate the deviation from the target parking position)
After the parking operation is completed, the deviation amount calculation unit 90 detects in what posture the vehicle 2 is parked with respect to the lane marking that defines the parking frame.

  First, the definition of the deviation amount will be described. There are two amounts of displacement here, the amount of displacement and the direction of displacement. FIG. 7 shows a surrounding map I obtained when the vehicle 2 moves backward and performs parallel parking and the parking operation is completed.

The size [Delta] L 1 of the deviation from the lane line W _i of the vehicle _2, [Delta] L ₂ are each, in the surrounding map I, the leftmost position of the reference point G _{2 (vehicle} 2 while indicating the rear end of the vehicle 2 the length of the line segment G ₂ a ₁ ([Delta] L 1 in FIG. ₇₎ when the intersection of the division line of the horizontal line and the left through to one feature point) corresponding to the a ₁ to the rear end of the vehicle 2 length (Figure line segment G ₁ B ₁ when the intersection between the horizontal line and the right lane line was B ₁ through the other of the reference point G _{1 (1} single feature points corresponding to the right end position of the vehicle 2) showing 7 ΔL ₂ ).

The direction Δθ displacement on the segmented line Wi of the vehicle 2 and a straight line along the left edge of the vehicle 2 or the right end, and those defined by the angle between the partition line W _i.

Deviation of size [Delta] L _1, [Delta] L ₂ is both is calculated as a value for each pixel in advance, and the vehicle 2 is stopped at the position found in clear positional relationship between the division line W _i, the deviation of the time By calculating the magnitudes ΔL ₁ and ΔL ₂ , it is possible to obtain a conversion coefficient for converting the pixel unit value into the actual distance (calibration). The deviation calculated from the ambient mapped I magnitude [Delta] L _1, the [Delta] L _2, by the action of the above-mentioned conversion factor can be calculated shift length unit magnitude [Delta] L _1, the [Delta] L _2.

The direction Δθ of displacement, the partition line of the left, the intersection A ₁ detects another point A _2, can be calculated based on the respective coordinates of the intersection point A ₁ and point A _2. Further, it is also possible to detect a point B ₂ different from the intersection B ₁ using the right dividing line and calculate based on the coordinates of the intersection B ₁ and the point B ₂ .

In order to calculate the deviation direction Δθ with high accuracy, it is desirable that the point A ₂ detected on the lane marking is located as far as possible from the intersection A ₁ . Therefore, with respect to the vertical direction coordinate of the intersection point A _1, so as to detect the upper and lower positions spaced more than a predetermined value up or down the point A ₂ on ambient map I. Or, with respect to the vertical direction coordinate of the intersection B _1, so as to detect the upper and lower positions spaced more than a predetermined value up or down the point B ₂ on ambient map I.

The deviation magnitudes ΔL ₁ and ΔL ₂ and the deviation direction Δθ calculated in this way are stored in the deviation amount storage unit 100, respectively.

If the vehicle 2 is correctly parked with respect to the lane marking Wi, the displacement magnitudes ΔL ₁ and ΔL ₂ and the displacement direction Δθ are calculated and stored such that ΔL ₁ = ΔL ₂ and Δθ = 0. Is done.

(Explanation of how to correct the deviation from the target parking position)
Here, when the vehicle 2 is in a state where the uniformity of the load on the four wheels is significantly lost, such as a decrease in tire air pressure, a deviation in the occupant's boarding position / loading position, etc., when the parking operation is performed Even if the steering angle according to the command value of the parking operation execution unit 70 is given to the vehicle 2, the load applied to the four wheels of the vehicle 2 is not uniform, so the target movement route generated by the target movement route generation unit 50 is correctly set. There is a possibility that the parking position when the parking operation is completed cannot deviate from the target parking position.

At this time, generally, ΔL ₁ ≠ ΔL ₂ and Δθ ≠ 0. As long as the state of the vehicle (tire pressure, number of passengers, load state of luggage, etc.) does not change, there is a high possibility that the deviation of the parking position generated in this way will always occur even if the parking place changes. Therefore, when the parking operation is performed several times, for example, at least one of the left and right deviation magnitudes ΔL ₁ and ΔL ₂ and the deviation direction Δθ is continuously determined by a predetermined amount. When there is a deviation, it can be determined that the deviation is a permanent deviation.

  Then, when the target movement route generation unit 50 generates the target movement route of the vehicle 2, on the assumption that the deviation occurs, a target movement route that eliminates the deviation is generated.

In the target movement route generation unit 50, several methods can be considered to generate a target movement route that does not cause a deviation, and any of them may be performed. For example, by correcting the coordinates of the arcs M ₁ and M ₂ by correcting the coordinates of the turning point P ₁ , the vehicle can be parked at a predetermined position of the parking frame even if a deviation occurs, that is, when parking is completed. In addition, corrected target movement paths may be generated such that the left and right displacement magnitudes ΔL ₁ and ΔL ₂ and the displacement direction Δθ are ΔL ₁ = ΔL ₂ and Δθ = 0, respectively.

Further, by correcting the shape of an arc M ₂ by correcting only coordinate the target parking position S _1, even if deviation occurs can park at a predetermined position of the parking space, i.e., when the completion of the parking, A corrected target movement path may be generated such that the left and right displacement magnitudes ΔL ₁ and ΔL ₂ and the displacement direction Δθ are ΔL ₁ = ΔL ₂ and Δθ = 0, respectively.

When at least one of the difference between the left and right displacement magnitudes ΔL ₁ and ΔL ₂ and the displacement direction Δθ exceeds a predetermined upper limit value, the warning output unit 130 causes the vehicle to The driver is warned by sound, voice or display that there may be an abnormality in the vehicle. Then, check the tire air pressure, check the load status of the luggage, and check the bias of the occupant's boarding position.

  As described above, the configuration and operation of the present embodiment have been described by taking parallel parking by reverse as an example, but other parking modes, that is, even when parallel parking by forward and parallel parking by reverse, A series of operations are performed by the same action.

For example, FIG. 5 (b) shows an example of a case where the target parking position S _2, and specifying a parallel parking by forward. In this case, a turning point P ₂ is set, and an arc M ₃ from the current position P ₀ to the turning point P ₂ and an arc M ₄ from the turning point P ₂ to the target parking position S ₂ are respectively Calculated as the target travel route.

Further, FIG. 5 (c) shows an example of a case where the target parking position S _3, specifying parallel parking. In this case, is set to crosscut point _{P 3,} the straight line _{N 1} extending from the current position _{P 0} in crosscut point _{P 3,} the arc _{M 5} extending from crosscut point _{P 3} to the target parking position _{S 3,} arc _{M 6} is, Each is calculated as a target travel route of the vehicle 2. In this case, the arc M ₅ and the arc M ₆ is connected at point P _4, in this respect P _4, it is necessary to change the setting of the steering angle. That is, steering the steering wheel 314 (see FIG. 2) to the left on the arc M _5, to steer the steering wheel 314 to the right on the arc M _6.

(Explanation of deviation amount storage method and usage method)
The calculated shift amounts (shift sizes ΔL ₁ , ΔL ₂ and shift direction Δθ) are stored in the shift amount storage unit 100 (see FIG. 1) for the past predetermined number of times, respectively. When the new deviation amount is calculated, the oldest amount is erased.

  Here, when the tires of the vehicle 2 are changed, when the tire pressure is adjusted, when the loading state of the luggage of the vehicle 2 changes greatly, when the number of passengers riding on the vehicle 2 changes significantly, etc. When the vehicle state changes greatly, the occurrence state of the deviation amount when the parking operation is performed is likely to change. Therefore, the target parking position and the parking method are set by the target parking position / parking method designating unit 40 shown in FIG. When designated, it is possible to erase the deviation amount stored in the past. This function is realized by the action of the stored information erasure unit 110 shown in FIG.

  Specifically, an interface for displaying a menu asking whether or not to delete the past deviation amount is displayed on the screen of the video display unit 30 shown in FIG. 1, and a driver inputs necessary information for the menu. It is realized by.

  Further, when the target movement route generation unit 50 generates the target movement route by the action of the stored information non-reflection instruction unit 120 shown in FIG. 1, the setting is made so that the target movement route is generated without considering the past deviation amount. You can also.

  This is the amount of misalignment in the past when parking in a parking lot that is significantly different from the parking lot you normally use, for example, when parking in an inclined parking lot or parking in an unpaved parking lot. This is because if the target movement route is generated in consideration of the above, the deviation amount may increase. In such a situation, the target movement route can be generated temporarily without considering the past deviation amount by the action of the stored information non-reflection instruction unit 120.

  The function of the stored information non-reflecting instruction unit 120 is that when the target parking position and the parking method are specified by the target parking position / parking method specifying unit 40 shown in FIG. This is realized by an interface that displays a menu asking whether to reflect or not, and a driver inputs necessary information. When the function of the stored information non-reflecting instruction unit 120 is used, the deviation amount calculated at the completion of parking is not stored in the deviation amount storage unit 100.

(Description of the flow of processing in the embodiment)
The outline of the process performed in the parking support apparatus 1 has been described above. Next, the overall process flow will be described with reference to the flowchart of FIG. Note that the above-described calibration is assumed to have been performed in advance, and description thereof is omitted in the flowchart of FIG.

  (Step S800) It is determined whether or not the parking assistance start switch 15 is turned on. If it is ON, the process proceeds to step S802. If it is not ON, step S800 is repeated.

  (Step S802) A deviation correction flag, which will be described later, stored in the deviation amount storage unit 100 is read.

  (Step S804) The driver instructs the target parking position / parking method by the action of the target parking position / parking method designating unit 40.

  (Step S806) The image around the vehicle 2 is photographed by the imaging unit 10 and image input is performed. Further, the image input by the coordinate conversion / synthesis unit 20 is coordinate-converted into an overhead view.

  (Step S <b> 808) The coordinate conversion / synthesis unit 20 combines the generated overhead view with one image to create a surrounding map I and displays it on the video display unit 30.

  (Step S810) It is determined whether or not a later-described deviation amount correction flag is set. When the deviation amount correction flag is set, the process proceeds to step S812, and when the deviation amount correction flag is not set, the process proceeds to step S814.

(Step S812) target traveling path generating unit 50, from the current position P ₀ of the vehicle 2 to reach the target parking position S ₁ through the crosscut point P _1, to produce a corrected target traveling path.

(Step S814) target traveling path generating unit 50, from the current position P ₀ of the vehicle 2 to reach the target parking position S ₁ through the crosscut point P _1, to generate the target traveling path which has not been corrected.

  (Step S816) The parking operation executing unit 70 performs a parking operation while controlling the steering angle of the vehicle 2 so as to follow the target movement route generated by the target movement route generation unit 50.

  (Step S818) The parking completion determining unit 80 determines whether or not the parking operation is completed. When the parking operation is completed, the process proceeds to step S820. When the parking operation is not completed, the process returns to step S806. A detailed flow of the process performed in step S818 will be described later.

  In addition, after returning to step S806, the generation of the target movement route is repeated in step S812, but this may return to step S816 to continue the parking operation. However, if the parking operation is continued, an error may be accumulated along with the travel of the vehicle 2 when the target travel route is traced. Therefore, each time the vehicle 2 travels a minute distance, the process returns to step S806. By generating the target movement path from the current position, accumulation of errors can be prevented.

(Step S820) The deviation amount calculation unit 90 calculates the magnitudes of deviation ΔL ₁ , ΔL ₂ and the deviation direction Δθ between the target parking position and the actual parking position, respectively. A detailed flow of the process performed in step S820 will be described later.

(Step S822) The shift amount calculation unit 90 determines whether the shift amounts (shift sizes ΔL ₁ and ΔL ₂ and shift direction Δθ) are within a preset allowable range. If it is within the allowable range, the processing of FIG. On the other hand, when it is not within the allowable range, the process proceeds to step S824.

(Step S824) The deviation amount calculation unit 90 determines whether or not the deviation amount (any one of deviation magnitudes ΔL ₁ , ΔL ₂ and deviation direction Δθ) is equal to or greater than a preset upper limit value. . If it is greater than or equal to the upper limit value, the process proceeds to step S826, and if not greater than the upper limit value, the process proceeds to step S828.

  (Step S826) The warning output unit 130 outputs a warning so as to check the tire air pressure, check the loading state of the luggage, and check the deviation of the occupant's boarding position.

(Step S828) The shift magnitudes ΔL ₁ and ΔL ₂ and the shift direction Δθ are stored in the shift amount storage unit 100, respectively.

(Step S830) The deviation amount calculation unit 90 analyzes the past deviation magnitudes ΔL ₁ and ΔL ₂ and the deviation direction Δθ stored in the deviation amount storage unit 100, and performs a predetermined number of times in the same direction (for example, (3 times) It is determined whether or not the deviation has occurred. When the condition is met (YES), the process proceeds to step S832, and when the condition is not met (NO), the process proceeds to step S834.

  (Step S832) In the deviation amount storage unit 100, when the target movement route generation unit 50 generates the target movement route of the vehicle 2, a deviation amount correction flag indicating that the target movement route is corrected is set.

  (Step S834) In the deviation amount storage unit 100, when the target movement route generation unit 50 generates the target movement route of the vehicle 2, a deviation amount correction flag indicating that the target movement route is corrected is lowered.

  Next, the flow of the parking completion determination process will be described with reference to FIG.

  (Step S901) It is determined whether or not parallel parking is being performed. If parallel parking is in progress, the process proceeds to step S902. If parallel parking is not in progress, the process proceeds to step S903.

  (Step S902) In the parking completion determination unit 80, it is determined whether or not the front end of the vehicle 2 is in a position that has advanced over the predetermined distance over the line segment K (see FIG. 6B). When the condition is met (YES), the process proceeds to step S907, and when the condition is not met (NO), step S902 is repeated.

  (Step S903) It is determined whether or not parallel parking is being performed in reverse. If the vehicle is parked in parallel in reverse, the process proceeds to step S904. If the vehicle is not parked in parallel in reverse, the process proceeds to step S905.

  (Step S904) In the parking completion determination unit 80, it is determined whether or not the front end of the vehicle 2 is in a position that has advanced over the predetermined distance over the line K (see FIG. 6B). When the condition is met (YES), the process proceeds to step S907, and when the condition is not met (NO), step S904 is repeated.

  (Step S905) It is determined whether or not parallel parking is being performed forward. If the vehicle is parked side by side in the forward direction, the process proceeds to step S906.

  (Step S906) In the parking completion determination unit 80, it is determined whether or not the rear end of the vehicle 2 is in a position that has advanced over the predetermined distance within the parking frame across the line segment K (see FIG. 6C). . When the condition is met (YES), the process proceeds to step S907, and when the condition is not met (NO), step S906 is repeated.

  (Step S907) The parking completion determination unit 80 determines that the parking has been completed.

  Next, the flow of the deviation amount calculation process will be described with reference to FIG. This process is all performed by the deviation amount calculation unit 90 shown in FIG.

(Step S101) and the reference point G ₂ is a feature point corresponding to the left end position of the vehicle 2, detects the position of the reference point G ₁ is a feature point corresponding to the right end position of the vehicle 2 (see FIG. 7). The reference points G ₁ and G ₂ are points representing the left and right rear ends of the vehicle 2, and these points have the same specifications as the imaging unit 10 and the type of the vehicle 2, and the surrounding map I is synthesized. If the method is the same, it exists at a predetermined position in the surrounding map I. Therefore, the position of the reference points G ₁ and G ₂ is detected by detecting the position of the vertex on the far side of the parking frame among the rectangular vertices circumscribing the virtual image representing the vehicle 2 from the surrounding map I. Can be detected. In addition, as described above, since the coordinates of the reference points G ₁ and G ₂ can be calculated in advance as long as the specifications of the parking assist device 1 are not changed, the coordinates are stored. In addition, the stored value may be read and used.

(Step S102) and the intersection A ₁ is a characteristic point of the partition line of the left side of the vehicle, detects a position of an intersection B ₁ is a feature point in the right pane line of the vehicle (see FIG. 7). The position of the intersection A ₁ is detected as the position of the intersection on the left side of the vehicle 2 among the intersections of the dividing line detected from the surrounding map I and the horizontal line passing through the reference point G ₂ , and the intersection B ₁ position includes a division line detected from the surrounding map I, among the intersection of the horizontal line passing through the reference point G _1, is detected as the position of the right of an intersection of the vehicle 2.

(Step S103) The amount of deviation ΔL ₁ (see FIG. 7) is calculated. Specifically, the magnitude of deviation ΔL ₁ is calculated as the distance between the reference point G ₂ and the intersection A ₁ .

(Step S104) The amount of deviation ΔL ₂ (see FIG. 7) is calculated. Specifically, the magnitude [Delta] L ₂ shift is calculated as the distance of the reference point G ₁ and the intersection B _1.

Detecting the position of the (Step S105) point _{A 2} or point _{B 2} (see FIG. 7). Specifically, point A _2, to the intersection point A ₁ of the previously detected, is detected as a point on lane line W _i lying above a predetermined value on the ambient map I. Further, the point B ₂ is detected as a point on the lane marking W _i that is a predetermined value above the surrounding map I with respect to the previously detected intersection B ₁ .

(Step S106) The shift direction Δθ (see FIG. 7) is calculated. Specifically, the line segment connecting the intersection A ₁ and the point A ₂ is calculated as an angle formed with the vertical direction of the surrounding map I. The direction Δθ of shift, the line segment connecting the intersection points B ₁ and point B ₂ may be calculated as an angle formed between the vertical surrounding map I.

As described above, according to 1 which is an embodiment parking assist device 1 of the present invention configured as described above, the vehicle 2 has stopped in the vicinity of the target parking position S _1, the imaging unit 10 is captured, from the image around the vehicle, which is presented to the driver, by the target parking position and the parking method specifying unit 40, the driver specifies the target parking position S ₁ and the parking process, the target traveling path generating unit 50 generates a target traveling path of the vehicle 2 from the vicinity of the target parking position S ₁ to the target parking position S _1, the parking operation execution unit 70, and the vehicle 2 is parked in accordance with the generated target traveling path, the parking completion The determination unit 80 determines that the parking has been completed, and the deviation amount calculation unit 90 has the magnitude ΔL ₁ , ΔL ₂ of the deviation between the position of the vehicle 2 and the target parking position S ₁ when the parking is completed. And calculating the direction of deviation Δθ (deviation amount), The deviation amount storage unit 100 stores the calculated deviation magnitudes ΔL ₁ and ΔL ₂ and the deviation direction Δθ (deviation amount). Then, when the target movement route generation unit 50 generates a new target movement route, the deviation amounts ΔL ₁ and ΔL ₂ stored in the deviation amount storage unit 100 in the past when a plurality of parkings are completed are shifted. based on the direction [Delta] [theta] (shift _{amount), ΔL 1 = ΔL 2,} ( as the deviation amount is not generated) such that the [Delta] [theta] = 0, the vehicle 2 from the vicinity of the target parking position S ₁ to the target parking position S ₁ The target travel route is generated without being affected by a decrease in tire air pressure, variation in air pressure, deviation in the occupant's boarding position, deviation in baggage loading position, etc., and without any special operation by the driver to, in the target parking position S _1, while maintaining a predetermined positional relationship with partition lines indicating the parking space, it is possible to reliably park the vehicle 2.

Moreover, according to the parking assistance apparatus 1 which is one embodiment of the present invention, the deviation amount calculation unit 90 is expressed as a deviation amount by the distance between the left end of the vehicle 2 and the lane marking representing the parking frame on the left side of the vehicle 2. The left shift magnitude ΔL ₁ , the right shift magnitude ΔL ₂ represented by the distance between the right end of the vehicle 2 and the lane marking representing the right parking frame of the vehicle 2, and the left end of the vehicle 2 Alternatively, since the deviation direction Δθ represented by the angle between the straight line along the right end and the partition line representing the parking frame is calculated, the posture of the vehicle 2 when the parking is completed can be easily calculated.

Further, according to the parking assist apparatus 1 is one embodiment of the present invention, the shift amount calculating unit 90, when the parking of the vehicle 2 has been completed, out of the division line drawn around the target parking position S ₁ , Two feature points on the left lane line of the vehicle 2, the position of the intersection A ₁ and the point A ₂ , and the position of the reference point G ₂ , which is one feature point corresponding to the left end position of the vehicle 2, , And a left shift magnitude ΔL ₁ is calculated based on the detected position of the intersection A _{1 and} the position of the reference point G ₂ , and two feature points on the right lane marking of the vehicle 2 are calculated. The position of the intersection point B ₁ and the point B _{2 and} the position of the reference point G ₁ which is one feature point corresponding to the right end position of the vehicle 2 are detected, and the detected position of the intersection point B ₁ calculating the magnitude of [Delta] L ₂ of the deviation of the right based on the position of the reference point G _1, further to the partition line of the left side of the vehicle 2 A two feature points that, the position of the intersection point A ₁ and the point A _2, or a two feature points on the partition line of the right side of the vehicle 2, the position of the intersection point B ₁ and point B _2, on the basis, to calculate the direction Δθ deviation, the deviation between the position and the target parking position S ₁ of the vehicle 2 when the parking is completed, can be calculated by a simple processing.

Moreover, according to the parking assistance apparatus 1 which is one embodiment of the present invention, the target movement route generation unit 50 parks a predetermined number of times, and the left shift magnitude ΔL ₁ and the right shift magnitude. and difference value [Delta] L ₂ is, the direction Δθ shift, but when both are within a predetermined range, when the parking operation execution unit 70 performs the following parking, the target parking position S _1, the displacement of the left size In order to generate a target moving path that allows the vehicle to be parked such that the difference value between the depth ΔL ₁ and the rightward shift magnitude ΔL ₂ is 0 and the shift direction Δθ is 0, the driver does not The generation of the deviation amount can be reliably corrected without giving a special instruction.

Moreover, according to the parking assistance apparatus 1 which is one embodiment of the present invention, the vehicle enters the front end or the rear end of the two lane markings drawn on the left and right of the vehicle, respectively. The vehicle has been parked by detecting that the line segment connecting the two end points on the side of the vehicle is located a predetermined distance away from the outside of the target parking position to the inside of the target parking position. to determine the, the deviation between the position and the target parking position S ₁ of the vehicle 2 when the parking is completed can be calculated by a simple calculation.

Moreover, according to the parking assistance apparatus 1 which is one embodiment of the present invention, the storage information for erasing the displacement magnitudes ΔL ₁ and ΔL ₂ and the displacement direction Δθ (deviation amount) stored in the displacement amount storage unit 100. Since the erasure unit 110 is provided, when the vehicle state changes greatly, the past deviation amount can be erased, and thereby the target movement path is generated using the deviation amount before the vehicle state changes. Thus, it is possible to prevent the deviation amount of the vehicle 2 from increasing when parking is completed.

Further, the parking assist device 1 according to the embodiment of the present invention uses the deviation magnitudes ΔL ₁ and ΔL ₂ and the deviation direction Δθ (deviation amount) stored in the deviation amount storage unit 100 as the target movement route generation unit 50. In the parking lot that has a storage information non-reflecting instruction unit 120 that is not used when generating the target movement route of the vehicle 2 in the parking lot that is greatly different from the parking lot that is normally used, the target movement route in which the deviation amount is corrected Generation can be temporarily stopped, and this can prevent the amount of deviation of the vehicle 2 from increasing.

Moreover, according to the parking assistance apparatus 1 which is one embodiment of the present invention, of the difference between the deviation magnitudes ΔL ₁ and ΔL ₂ calculated by the deviation amount calculation unit 90 and the deviation direction Δθ (deviation amount), Since the warning output unit 130 that outputs a warning when at least one of them is equal to or higher than a predetermined upper limit value, it is possible to reliably warn the driver that there is a possibility that an abnormality has occurred in the vehicle. It is possible to check tire pressure, check the loading state of the luggage, and check the bias of the occupant's boarding position.

  As mentioned above, although the Example of this invention was explained in full detail with drawing, since an Example is only an illustration of this invention, this invention is not limited only to the structure of an Example. Of course, changes in design and the like within a range not departing from the gist are included in the present invention.

DESCRIPTION OF SYMBOLS 1 Parking assistance apparatus 10 Image pick-up part 15 Parking assistance start switch 20 Coordinate conversion / composition part 30 Image | video display part 40 Target parking position and parking method designation | designated part 50 Target moving route production | generation part 60 Vehicle parameter memory | storage part 70 Parking operation execution part 80 Parking completion Determination unit 90 Deviation amount calculation unit 100 Deviation amount storage unit 110 Storage information erasure instruction unit 120 Storage information non-reflection instruction unit 130 Warning output unit

Claims (8)

An imaging unit that captures an image around the vehicle including the vehicle;
For the driver of the vehicle stopped near the target parking position, the video taken by the imaging unit is presented, and the target parking position of the vehicle is designated from the presented video, and A target parking position / parking method designating part for designating a parking method at the target parking position;
A target movement path generation unit that generates a target movement path of the vehicle from the current position of the vehicle to the target parking position;
A parking operation execution unit for parking the vehicle according to the generated target movement route;
A parking completion determination unit for determining that the parking is completed;
A deviation amount calculation unit for calculating a deviation amount between the target parking position and the actual position of the vehicle when the parking completion determination unit determines that parking is completed;
A shift amount storage unit that stores the shift amount, and based on the shift amount calculated by performing parking in the past multiple times stored in the shift amount storage unit, in the target movement path generation unit A parking assistance device that generates a target movement route that does not generate the deviation amount.   The deviation amount calculation unit, as the deviation amount, is a left deviation amount represented by a distance between a left end of the vehicle and a lane marking representing a left parking frame of the vehicle, and a right end of the vehicle and the vehicle The magnitude of the rightward shift represented by the distance from the lane marking representing the right parking frame, and the direction of the displacement represented by the angle between the left edge of the vehicle or a straight line along the right edge and the lane marking representing the parking frame The parking support apparatus according to claim 1, wherein: The deviation amount calculation unit includes the positions of at least two feature points on the left lane line of the vehicle among the lane lines drawn around the target parking position when the parking is completed, and the vehicle And the position of one feature point corresponding to the left end position of the
Based on the position of at least two feature points on the right lane marking of the vehicle and the position of one feature point corresponding to the right end position of the vehicle, the magnitude of the rightward shift and the direction of the shift The parking assist device according to claim 2, wherein   The target movement path generation unit parks a predetermined number of times, and the difference value between the left shift amount and the right shift amount and the shift direction are both within a predetermined range. When the parking operation execution unit performs the next parking, the target movement route that can park at the target parking position so that the difference value becomes 0 and the deviation direction becomes 0. The parking assist device according to claim 2 or 3, wherein the parking assist device generates the signal.   The parking completion determination unit is configured such that the front end or the rear end of the vehicle connects two end points on the side where the vehicle enters, out of the end points of two lane markings drawn to the left and right of the vehicle, respectively. And detecting that the vehicle has been parked by detecting that the vehicle is located at a predetermined distance or more from the outside of the target parking position to the inside of the target parking position. The parking assistance device according to any one of claims 1 to 4.   The parking assist device according to any one of claims 1 to 5, further comprising a storage information erasing unit that erases the deviation amount stored in the deviation amount storage unit.   2. The storage information non-reflecting instruction unit that does not use the deviation amount stored in the deviation amount storage unit when the target movement route generation unit generates the target movement route of the vehicle. Item 7. The parking assist device according to any one of items 6.   8. The apparatus according to claim 1, further comprising a warning output unit that outputs a warning when the deviation amount calculated by the deviation amount calculation unit is equal to or greater than a predetermined upper limit value. Parking assistance device.