JP6479231B1 - Parking assistance device and parking assistance method - Google Patents

Abstract

A parking assist device for selecting a parking space that can be parked more efficiently from a plurality of parking spaces. A parking space detector detects a plurality of parking spaces facing a roadway on which the host vehicle travels based on body size data of the host vehicle. The road width calculation unit 3 calculates the width of the road that faces each of the plurality of parking spaces. The parking space width calculation unit 4 calculates the width of each of the plurality of parking spaces. The own vehicle position detection unit 5 detects the position of the own vehicle. Based on the width of the roadway facing each of the plurality of parking spaces, the width of each of the plurality of parking spaces, and the position of the host vehicle, the parking space selection unit 6 is the shortest among the plurality of parking spaces. Select a parking space where it is estimated that the vehicle can be parked. The own vehicle control unit 9 parks the own vehicle in the parking space selected by the parking space selection unit 6. [Selection] Figure 1

Description

  The present invention relates to a parking assistance device and a parking assistance method for assisting parking of a vehicle.

  In recent years, the practical use of parking assistance devices for assisting parking of vehicles has progressed. For example, the following Patent Document 1 discloses a parking assistance device that determines whether or not parking is possible in a detected parking space in consideration of not only the width of the parking space but also the width of the road (vehicle path) facing the parking space. Is disclosed.

JP 2009-151378 A

  In a parking assistance device, when a plurality of parking spaces are detected, a technique for selecting an optimal parking space from among them is desired.

  The present invention has been made to solve the above problems, and an object of the present invention is to provide a parking assistance device that selects a parking space that can be parked more efficiently from a plurality of parking spaces.

  A parking assist apparatus according to a first aspect of the present invention faces a vehicle body dimension data storage unit that stores vehicle body dimension data of the host vehicle, and a road on which the host vehicle travels based on the vehicle body dimension data. A parking space detection unit for detecting a plurality of parking spaces, a road width calculation unit for calculating the width of the road surface facing each of the plurality of parking spaces, and a width of each of the plurality of parking spaces. A parking space width calculation unit; a host vehicle position detection unit that detects a position of the host vehicle; a width of the roadway facing each of the plurality of parking spaces; a width of each of the plurality of parking spaces; A parking space selection that selects, as a target parking space, a parking space that is estimated to be able to park the host vehicle in the shortest time among the plurality of parking spaces based on the position of the host vehicle. When, and a vehicle control unit for performing parking assist control of the vehicle so as to park the vehicle in the target parking space.

  A parking assist device according to a second aspect of the present invention faces a vehicle body dimension data storage unit in which body dimension data of the host vehicle is stored, and a roadway on which the host vehicle travels based on the body dimension data. A parking space detection unit for detecting a plurality of parking spaces, a road width calculation unit for calculating the width of the road surface facing each of the plurality of parking spaces, and a width of each of the plurality of parking spaces. A parking space width calculation unit; a host vehicle position detection unit that detects a position of the host vehicle; a width of the roadway facing each of the plurality of parking spaces; a width of each of the plurality of parking spaces; Parking that selects a parking space that is estimated to be able to park the host vehicle with the smallest number of turnovers as the target parking space based on the position of the host vehicle Comprising a pace selecting section, and a vehicle control unit for performing parking assist control of the vehicle so as to park the vehicle in the target parking space.

  According to the parking assistance device of the present invention, it is estimated that the parking space is estimated to be able to park the vehicle in the shortest time among a plurality of parking spaces, or that the vehicle can be parked with the least number of turnovers. Since the parking space to be used is selected as the target parking space, efficient parking can be realized.

It is a block diagram which shows the structure of the parking assistance apparatus which concerns on Embodiment 1. FIG. It is a figure for demonstrating the example of the detection method of a parking space. It is a figure for demonstrating the calculation method of the width of the roadway which a parking space faces. It is a figure which shows the example of the time change of the road width detected by a road width detection part. It is a figure which shows the example of the detection result of a target parking space. It is a figure which shows the example of the score provided to the parking space. It is a figure which shows the example of the detection result of a target parking space. It is a figure which shows the example of the score provided to the parking space. It is a figure which shows the example of the detection result of a target parking space. It is a figure which shows the example of the score provided to the parking space. 3 is a flowchart showing an operation of the parking assistance device according to the first embodiment. 5 is a flowchart showing a target parking space selection process in the first embodiment. It is a figure which shows the example of the hardware constitutions of a parking assistance apparatus. It is a figure which shows the example of the hardware constitutions of a parking assistance apparatus. It is a flowchart which shows the target parking space selection process in Embodiment 2.

<Embodiment 1>
FIG. 1 is a block diagram showing a configuration of a parking assistance apparatus 10 according to Embodiment 1 of the present invention. As shown in FIG. 1, the parking assist device 10 includes a vehicle body dimension data storage unit 1, a parking space detection unit 2, a road width calculation unit 3, a parking space width calculation unit 4, a host vehicle position detection unit 5, and a parking space selection unit. 6, the surrounding situation acquisition part 7, the priority determination part 8, and the own vehicle control part 9 are provided. Hereinafter, the vehicle on which the parking assist device 10 is mounted is referred to as “own vehicle”.

  The vehicle body dimension data storage unit 1 is a storage medium that stores vehicle body dimension data such as the vehicle width and the vehicle length of the host vehicle.

  The parking space detection unit 2 detects the parking space facing the road while the host vehicle travels on the road of the parking lot (the road for passing or turning the vehicle in order to park the vehicle in the parking space). To detect. In that case, the parking space detection part 2 detects the parking space with the width | variety in which the own vehicle can park based on the vehicle dimension data memorize | stored in the vehicle body dimension data storage part 1. FIG.

  With reference to FIG. 2, the example of the detection method of the parking space which the parking space detection part 2 performs is demonstrated. When the parking assistance device 10 starts an operation for parking assistance of the host vehicle, the parking space detection unit 2 has already parked from the host vehicle 100 using the ultrasonic sensor 102 while the host vehicle 100 travels on the road. The distance to the vehicle 101 (hereinafter referred to as “existing parking vehicle”) is measured. And the parking space detection part 2 recognizes the shape of the existing parking vehicle 101 from the measurement result of the distance from the own vehicle 100 to the existing parking vehicle 101, and calculates | requires the coordinate of the corner point of the existing parking vehicle 101. FIG. If the distance between the corner points CN1 and CN2 of the two existing parked vehicles 101 adjacent to each other is larger than the vehicle length or the vehicle width of the host vehicle 100, the parking space detection unit 2 The space in between is detected as a parking space PS. The coordinates of the corner points CN1 and CN2 that sandwich the detected parking space PS are output from the parking space detection unit 2 as position information of the parking space PS.

  The coordinate system is not limited, but here, the position of the host vehicle 100 (for example, the center position of the rear wheel axle) at the time when the parking support device 10 starts the operation for parking support is set as the origin O. At that time, the vehicle 100 has an X axis in the vehicle length direction and a Y axis direction in the vehicle width direction.

  The detection method of the parking space which the parking space detection part 2 performs is not restricted to said method. For example, the parking space may be detected by analyzing an image around the own vehicle 100 captured by the in-vehicle camera. In that case, the parking space detection part 2 detects the frame line of a parking slot from the image which the vehicle-mounted camera image | photographed, and detects the parking slot of the magnitude | size which the own vehicle 100 can accommodate as a parking space.

  The road width calculation unit 3 calculates the width of the road that faces the parking space detected by the parking space detection unit 2. In the example illustrated in FIG. 2, the road width calculation unit 3 obtains the distance from the own vehicle 100 to the left and right objects (the existing parked vehicle 101 and the wall 103 in FIG. 2) or the parking space, and the own vehicle 100. The sum (DR + DL + WH) of the distance DR from the vehicle to the right object or parking space, the distance DL from the host vehicle 100 to the left object or parking space, and the vehicle width WH is calculated as the vehicle road width WP. The position of the object can be measured using the ultrasonic sensor 102 of the host vehicle 100, and the position of the parking space is the position information of the parking space PS output by the parking space detection unit 2 (the coordinates of the corner points CN1 and CN2). I understand.

  With reference to FIG. 3, the example of the calculation method of the road width which the road width calculation part 3 performs is demonstrated. In FIG. 3, two parking spaces PS1 and PS2 are detected by the parking space detection unit 2, and the road width changes from WP1 to WP2 at the position facing the parking space PS1, and at the position facing the parking space PS2, the roadway The width is constant at WP2.

  The road width calculation unit 3 measures the road width at the position of the own vehicle 100 while the own vehicle 100 travels on the road. In the example of FIG. 3, the road width calculated by the road width calculation unit 3 changes according to the position of the host vehicle 100. Therefore, when the host vehicle 100 moves forward, it changes with time as shown in FIG. In the present embodiment, it is assumed that an initial value WP0 of the road width having a sufficiently large value is set in the road width calculation unit 3. In this case, the output of the road width calculation unit 3 immediately after the start of parking assistance is WP0, but when the road width calculation unit 3 calculates a road width WP1 smaller than WP0, the output of the road width calculation unit 3 is Change to WP1.

  The road width calculation unit 3 outputs the minimum value of the road width when the parking space detection unit 2 detects the parking space as the width of the road that faces the parking space. For example, as shown in FIG. 4, when the road width changes from WP1 to WP2 during the period in which the parking space detection unit 2 detects the parking space PS1, the road width calculation unit 3 sets the minimum value WP1. Is considered as the width of the roadway facing the parking space PS1. Further, since the road width is constant at WP2 during the period in which the parking space detection unit 2 detects the parking space PS2, the road width calculation unit 3 calculates the width of the road that faces the parking space PS2. And

  The parking space width calculation unit 4 calculates the width of the parking space from the coordinates of corner points (CN1, CN2 in FIG. 2) of the parking space included in the position information of the parking space output by the parking space detection unit 2. Output.

  The own vehicle position detection unit 5 detects the position of the own vehicle. In the present embodiment, the host vehicle position detection unit 5 detects the position of the host vehicle using the yaw rate output from the yaw rate sensor of the host vehicle and the wheel speed output from the wheel speed sensor. Specifically, the host vehicle position detection unit 5 detects the change in the position of the host vehicle per unit time from the movement distance per unit time obtained from the wheel speed and the yaw angle per unit time obtained from the yaw rate. The current position of the host vehicle is obtained by calculating and adding the changes in the position of the host vehicle every unit time starting from the origin O. The calculation method of the position of the own vehicle is not limited to the above method, and any method may be used.

  When a plurality of parking spaces PS are detected by the parking space detection unit 2, the parking space selection unit 6 calculates the width of the roadway facing each parking space calculated by the roadway width calculation unit 3 and the parking space width calculation. Based on the width of each parking space calculated by the unit 4 and the position of each host vehicle detected by the host vehicle position detection unit 5, a parking space in which the host vehicle can be parked in the shortest time among a plurality of parking spaces is estimated. Then, the parking space estimated to be able to park the host vehicle in the shortest time is selected as a parking space for parking the host vehicle (hereinafter referred to as “target parking space”).

  A method for selecting the target parking space will be described with reference to FIG. In FIG. 5, three parking spaces PS1, PS2, and PS3 are detected. First, the parking space selection unit 6 obtains the positions of the parking spaces PS1, PS2, and PS3 from the coordinates CN2 to CN7 of the corner points of the parking spaces PS1, PS2, and PS3. Here, the positions M1, M2, and M3 of the midpoints of the sides facing the roadway of the parking spaces PS1, PS2, and PS3 (that is, the midpoints of the line segments that connect the corner points) are set to the parking spaces PS1, PS2, and PS3, respectively. Define as a position. And the parking space selection part 6 calculates distance DPS1, DPS2, DPS3 from position POS of the own vehicle 100 to position M1, M2, M3 of parking space PS1, PS2, PS3.

  Thereafter, the parking space selection unit 6 calculates the calculated distances DPS1, DPS2, and DPS3, the road widths WP1, WP2, and WP3 facing the parking spaces PS1, PS2, and PS3 calculated by the road width calculation unit 3, and parking. Based on the widths WPS1, WPS2, and WPS3 of the parking spaces PS1, PS2, and PS3 calculated by the space width calculation unit 4, the time required for the host vehicle 100 to park in the parking spaces PS1, PS2, and PS3 is determined. Score and evaluate.

  For example, a parking space with a shorter distance from the host vehicle can be parked in a shorter time, so a higher score is given. In the example of FIG. 5, since DPS3 <DPS2 <DPS1, a higher score is assigned in the order of parking space PS3, parking space PS2, and parking space PS1.

  In addition, the wider the width of the roadway facing the parking space, the smaller the number of turn-backs at the time of parking, and the higher the number of points that can be parked in a short time. In the example of FIG. 5, since WP1> WP2 = WP3, the highest score is assigned to the parking space PS1, and a lower score is assigned to the parking spaces PS2 and PS3 (the scores of the parking spaces PS2 and PS3 are Same).

  Further, the wider the parking space is, the easier it is for the host vehicle to enter, and because the parking is possible in a short time, a high score is given. In the example of FIG. 5, since WPS2> WPS1> WP3, a higher score is assigned in the order of the parking space PS2, the parking space PS1, and the parking space PS3.

  And the parking space selection part 6 presumes the thing with the highest sum total of the given points | pieces among parking space PS1, PS2, PS3 as the parking space which can park the own vehicle 100 in the shortest time, and the parking Select the space as the target parking space.

  FIG. 6 shows the evaluation results of the parking spaces PS1, PS2 and PS3 in FIG. Here, for all the evaluation criteria for the time required for parking (distance from the host vehicle to the parking space, width of the roadway facing the parking space, width of the parking space), the first evaluation score is “5”, 2 The rank evaluation score is “3” and the third rank evaluation score is “1”. In the example of FIG. 5, the parking space PS2 has the highest score as shown in FIG. 6, so the parking space selection unit 6 selects the parking space PS2 as the target parking space.

  On the other hand, in the case of DPS3 <DPS2 <DPS1, WP1> WP2 = WP3, WPS1> WPS3> WPS2 as in the example shown in FIG. 7, the evaluation results as shown in FIG. The space PS3 has the same score. In this case, the parking space selection unit 6 presents two of the parking spaces PS1 and PS3 as candidates for the target parking space to the driver of the host vehicle 100 (user of the parking assistance device 10), and from among these, the target parking space The driver is asked to select and the one selected by the driver is selected as the target parking space.

  In FIGS. 6 and 8, the distribution of the points given to each parking space is calculated based on the evaluation criteria for the time required for parking (the distance from the host vehicle to the parking space, the width of the roadway facing the parking space, the parking space Although it is the same regardless of (width), the distribution of points may be changed for each evaluation criterion. That is, the specific gravity of the score when an element that greatly contributes to the time required for parking is used as an evaluation criterion may be higher than the score when another element is used as an evaluation criterion. For example, when the distance from the host vehicle to the parking space is considered to contribute most to the time required for parking, the score given based on the distance from the host vehicle to the parking space as an evaluation criterion is “10, 5, 3,. May be set as high as possible, and the score given based on other elements as evaluation criteria may be set as low as “5, 3, 2,...”.

  Furthermore, in this Embodiment, the parking space selection part 6 considers the surrounding condition of a parking space, and selects a target parking space. The peripheral situation acquisition unit 7 and the priority determination unit 8 illustrated in FIG. 1 are for providing information to be added to the parking space selection unit 6.

  Peripheral situation acquisition part 7 as information showing the perimeter situation of parking space, information on the model of the existing parked vehicle adjacent to the parking space (hereinafter referred to as “peripheral car type information”) and the distance from the parking space to the entrance of the parking lot Information (hereinafter referred to as “entrance distance information”). The acquisition method of surrounding vehicle type information and entrance / exit distance information may be any method. The surrounding vehicle type information can be acquired by, for example, a method of receiving from an existing parked vehicle in a parking space by inter-vehicle communication, or a method of identifying an image of an existing parked vehicle by analyzing an image around the parking space captured by an in-vehicle camera. In addition, the entrance / exit distance information can be calculated using, for example, a parking lot arrangement map including a point cloud including the latitude / longitude information of the parking lot entrance / exit and the latitude / longitude information of each parking space.

  The priority determination unit 8 allows the driver of the own vehicle to select which of the surrounding vehicle type information and the entrance / exit distance information is prioritized or which information is not taken into account, and outputs a priority signal indicating the selection result to the parking space. Input to the selector 6. The priority signal takes three values, “0”, “1”, and “2”, and “1” when priority is given to the entrance / exit distance information, and “2” when the surrounding vehicle type information is given priority. It shall be "0" when not taking into account. Hereinafter, a priority signal having a value of “1” is referred to as a “peripheral vehicle type priority signal”, and a priority signal having a value of “2” is referred to as an entrance / exit distance priority signal.

  For example, when a surrounding vehicle type priority signal is input from the priority determination unit 8 to the parking space selection unit 6, the parking space selection unit 6 takes into account the surrounding vehicle type information acquired by the surrounding state acquisition unit 7, and the target parking space Select. Specifically, the parking space selection unit 6 confirms whether or not the existing parked vehicle adjacent to the parking space includes a specific vehicle type (for example, a luxury vehicle) that the driver does not want, and the specific vehicle type. The parking space adjacent to the existing parking vehicle is excluded from the candidates for the target parking space. It is assumed that a specific vehicle type that is not desired by the driver is set in advance by the driver.

  For example, in the example of FIG. 7, when the existing parked vehicle 101 closest to the host vehicle 100 is a specific vehicle type, the parking space selection unit 6 excludes the parking space PS3 from the candidates, and the parking space PS1 and the parking space PS2 The parking space PS1 having a high score is selected as the target parking space.

  On the other hand, when an entrance / exit distance priority signal is input from the priority determination unit 8 to the parking space selection unit 6, the parking space selection unit 6 takes into account the entrance / exit distance information acquired by the surrounding state acquisition unit 7, and sets the target parking space. Select. Specifically, in addition to the points given to each parking space based on the evaluation criteria for the time required for parking (distance from the host vehicle to the parking space, width of the roadway facing the parking space, width of the parking space) Then, a score based on the distance to the entrance / exit of the parking lot is given, and the parking space having the highest sum is selected as the target parking space. For example, a parking space with a shorter distance to the entrance / exit of the parking lot is more convenient when leaving the vehicle, and thus a higher score is given.

  FIG. 9 is obtained by adding the entrance / exit position of the parking lot to the example of FIG. That is, in FIG. 9, as in FIG. 7, the relationships of DPS3 <DPS2 <DPS1, WP1> WP2 = WP3, WPS1> WPS3> WP2 are established. Therefore, as shown in FIG. 10, the points of the parking spaces PS1, PS2, PS3 based on the distance from the host vehicle to the parking space, the width of the roadway facing the parking space, and the width of the parking space are shown in FIG. Is the same.

  In the example of FIG. 9, the distances DG1, DG2, and DG3 from the parking spaces PS1, PS2, and PS3 to the entrance / exit of the parking lot have a relationship of DG1 <DG2 <DG3. Therefore, 5 points are added to the parking space PS1, 3 points to the parking space PS2, and 1 point to the parking space PS3. As a result, as shown in FIG. 10, the total score of the parking space PS1 is the highest, and the parking space selection unit 6 selects the parking space PS1 as the target parking space.

  Returning to FIG. 1, the host vehicle control unit 9 performs parking support control of the host vehicle so that the host vehicle is parked in the target parking space selected by the parking space selection unit 6. The parking support control method may be any method, and for example, a publicly known technique as disclosed in JP 2010-269707 A may be used. In the technique disclosed in Japanese Patent Application Laid-Open No. 2010-269707, a parking route table defined in accordance with the position and width of the target parking space and the width of the roadway facing the target parking space is prepared in advance. The amount of steering of the host vehicle is controlled, and the host vehicle is parked in the target parking space.

  As described above, according to the parking assistance device 10 according to the first embodiment, when a plurality of parking spaces are detected, the parking space that is estimated to be able to park the vehicle in the shortest time among them is Selected as the target parking space. Therefore, efficient parking of the host vehicle can be realized.

  Next, operation | movement of the parking assistance apparatus 10 which concerns on Embodiment 1 is demonstrated based on the flowchart of FIG.

  When the parking assistance apparatus 10 is instructed by the driver to park the host vehicle, the parking space detection unit 2 searches for a parking space facing the roadway on which the host vehicle is traveling (step S101). At this time, the road width calculation unit 3 calculates the width of the road on which the host vehicle is traveling (step S102). While the parking space is not detected (NO in step S103), steps S101 and S102 are repeated.

  When the parking space detection unit 2 detects a parking space (YES in step S103), the road width calculation unit 3 calculates the width of the road that the parking space faces (step S104). At this time, the road width calculation unit 3 regards the minimum value of the road width calculated during the detection period of the parking space as the road width of the parking space. Moreover, the parking space width calculation part 4 calculates the width of the detected parking space (step S105). In addition, when the parking space detection part 2 detects multiple parking spaces, the process of step S104, S105 is performed with respect to each of several parking spaces.

  Thereafter, the parking space selection unit 6 performs a “target parking space selection process” that is a process of selecting a target parking space for parking the host vehicle from the detected parking spaces (step S106). Details of the target parking space selection process will be described later.

  When the target parking space is selected by the parking space selection unit 6, the host vehicle control unit 9 starts parking support control to park the host vehicle in the target parking space (step S107). Until the parking of the host vehicle in the target parking space is completed (NO in step S108), the host vehicle control unit 9 continues step S107. When the parking of the host vehicle in the target parking space is completed (YES in step S108), the parking support device 10 ends the parking support process.

  Next, details of the target parking space selection process (step S106 in FIG. 11) will be described based on the flowchart in FIG.

  When the target parking space selection process starts, the parking space selection unit 6 first checks whether the priority signal output from the priority determination unit 8 is an entrance / exit distance priority signal (step S201). If the priority signal is an entrance / exit distance priority signal (YES in step S201), the parking space selection unit 6 acquires information on the distance from each parking space to the entrance / exit of the parking lot from the surrounding state acquisition unit 7, and each parking A score corresponding to the distance is given to the space (step S202).

  On the other hand, if the priority signal is not an entrance / exit distance priority signal (NO in step S201), the parking space selection unit 6 checks whether the priority signal is a surrounding vehicle type priority signal (step S203). If the priority signal is a surrounding vehicle type priority signal (YES in step S203), the parking space selection unit 6 acquires information on the types of existing parked vehicles adjacent to each parking space from the surrounding state acquisition unit 7, A parking space adjacent to an existing parking vehicle of the vehicle type is excluded from candidates for the target parking space.

  If the priority signal is neither the doorway distance priority signal nor the surrounding vehicle type priority signal (NO in step S203), that is, if the priority signal is “0”, neither step S202 nor step S204 is performed.

  Thereafter, the parking space selection unit 6 calculates the distance from the host vehicle to each parking space (step S205), and assigns a score corresponding to the distance to each parking space (step S206). Subsequently, the parking space selection unit 6 gives each parking space a score corresponding to the width of each parking space calculated by the parking space width calculation unit 4 (step S207). Furthermore, the parking space selection unit 6 assigns each parking space with a score corresponding to the width of the road that each parking space faces calculated by the road width calculation unit 3 (step S208).

  And the parking space selection part 6 totals the score provided to each parking space, and confirms whether there are multiple parking spaces with the highest total score (step S209). If there is only one highest parking space, the parking space selector 6 selects that parking space as the target parking space (step S210).

  However, if there are multiple parking spaces with the highest total score, the multiple parking spaces with the highest total score are presented to the driver of the host vehicle as candidates for the target parking space, and the driver is asked for selection. The one selected by the driver is selected as the target parking space (step S211).

  When the target parking space is selected by the parking space selection unit 6, the target parking space selection process ends.

  FIG. 13 and FIG. 14 are diagrams illustrating examples of the hardware configuration of the parking assistance device 10. Each function of the components of the parking assistance apparatus 10 shown in FIG. 1 is realized by, for example, the processing circuit 50 shown in FIG. That is, the parking assist device 10 detects a plurality of parking spaces facing the roadway on which the host vehicle travels based on the body size data of the host vehicle, and determines the width of the roadway facing each of the plurality of parking spaces. Calculate, calculate the width of each of the plurality of parking spaces, detect the position of the host vehicle, determine the width of the roadway facing each of the plurality of parking spaces, the width of each of the plurality of parking spaces, and the Based on the location, select the parking space that is estimated to be able to park the vehicle in the shortest time from the multiple parking spaces as the target parking space, and park the vehicle so that the vehicle is parked in the target parking space. A processing circuit 50 for performing support control is provided. The processing circuit 50 may be dedicated hardware, or a processor (a central processing unit (CPU), a processing device, an arithmetic device, a microprocessor, a microcomputer, or the like) that executes a program stored in a memory. It may be configured using a DSP (Digital Signal Processor).

  When the processing circuit 50 is dedicated hardware, the processing circuit 50 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable). Gate Array) or a combination of these. Each function of the components of the parking assist device 10 may be realized by an individual processing circuit, or the functions may be realized by a single processing circuit.

  FIG. 14 shows an example of the hardware configuration of the parking assistance apparatus 10 when the processing circuit 50 is configured using a processor 51 that executes a program. In this case, the functions of the constituent elements of the parking assistance device 10 are realized by software or the like (software, firmware, or a combination of software and firmware). Software or the like is described as a program and stored in the memory 52. The processor 51 reads out and executes the program stored in the memory 52, thereby realizing the function of each unit. That is, the parking assist device 10, when executed by the processor 51, detects a plurality of parking spaces facing the roadway on which the host vehicle travels based on the body size data of the host vehicle, and a plurality of parkings. A process for calculating the width of the roadway facing each of the spaces, a process for calculating the width of each of the plurality of parking spaces, a process for detecting the position of the host vehicle, and a vehicle facing each of the plurality of parking spaces Based on the width of the road, the width of each of the multiple parking spaces, and the position of the host vehicle, the target parking space is selected from the plurality of parking spaces that is estimated to be able to park the host vehicle in the shortest time. And a program for executing a parking assist control of the host vehicle so that the host vehicle is parked in the target parking space. Provided with a memory of 52. In other words, it can be said that this program causes the computer to execute the operation procedure and method of the components of the parking assist device 10.

  Here, the memory 52 is nonvolatile or non-volatile such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), etc. Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc) and its drive device, etc., or any storage media used in the future May be.

  The configuration in which the functions of the components of the parking assistance device 10 are realized by either hardware or software has been described above. However, the present invention is not limited to this, and a configuration in which some components of the parking assistance device 10 are realized by dedicated hardware, and other components are realized by software or the like. For example, the functions of some components are realized by the processing circuit 50 as dedicated hardware, and the programs stored in the memory 52 are stored in the memory 52 by the processing circuit 50 as the processor 51 for other components. The function can be realized by reading and executing.

  As described above, the parking assistance device 10 can realize the functions described above by hardware, software, or the like, or a combination thereof.

<Embodiment 2>
In the first embodiment, the parking space selection unit 6 selects a parking space that is estimated to be able to park the host vehicle in the shortest time among a plurality of parking spaces as the target parking space. Then, the parking space selection part 6 selects the parking space in which the own vehicle can be parked with the smallest number of turnovers as the target parking space.

  The estimation of the parking space where the host vehicle can be parked with the smallest number of turnovers is based on the width of the roadway facing the parking space calculated by the roadway width calculation unit 3 and the width of the parking space calculated by the parking space width calculation unit 4 And the position of the host vehicle output by the host vehicle position detection unit 5.

  For example, when the width of the roadway facing the parking space is narrow, the required number of turnovers increases. Therefore, the parking space selection unit 6 confirms whether the width of the roadway facing each parking space is equal to or greater than a predetermined threshold, and if there is no parking space facing the roadway whose width is equal to or greater than the threshold, Judging that there is no appropriate parking space, the target parking space is not selected. This is because when there is only a parking space facing a very narrow road, no matter which parking space is selected as the target parking space, the number of times of turnover increases and the user feels bothered. The threshold of the road width is determined by calculating in advance a road width that can be parked with a certain number of turnovers.

  Moreover, the parking space selection part 6 gives the score based on the width of a parking space and the position of the own vehicle with respect to each of the parking space which faced the roadway whose width is more than a threshold value, and it returns the smallest from the total score. Estimate the parking space where you can park your vehicle. For example, as the parking space is farther from the host vehicle, it is easier to adjust the posture of the host vehicle until the host vehicle reaches the parking space, and the number of turnovers can be reduced. In addition, the wider the parking space, the easier it is for the host vehicle to enter, and the number of turn-backs can be reduced, so a higher score is given.

  And the parking space selection part 6 presumes the parking space where the sum total of the given points | pieces is the highest as the parking space which can park a self-vehicle with the fewest number of turnovers, and selects the parking space as a target parking space.

  The basic operation of the parking assist apparatus 10 according to the second embodiment is the same as that of FIG. 11 shown in the first embodiment. However, the target parking space selection process performed in step S106 is different from the first embodiment.

  FIG. 15 shows a flowchart of the target parking space selection process in the second embodiment. The flow of FIG. 15 is obtained by adding steps S301, S302, and S303 and deleting step S208 to the flow of FIG.

  In the target parking space selection process according to the second embodiment, first, the parking space selection unit 6 confirms whether or not there is a parking space facing a roadway having a width equal to or greater than a predetermined threshold (step S301). .

  When there is no parking space facing the roadway whose width is equal to or greater than the threshold (NO in step S301), the parking support device 10 determines that there is no appropriate parking space (step S302) and selects the target parking space. The flow of FIG. In this case, the parking assistance device 10 notifies the driver that there is no appropriate parking space, and performs the parking assistance operation without performing the parking assistance control of the host vehicle (steps S107 and S108 in FIG. 11). finish.

  If there is a parking space facing a roadway with a width equal to or greater than the threshold, a parking space with a width smaller than the threshold is excluded from the target parking space candidates (step S303), and the process proceeds to step S201.

  The subsequent operation is basically the same as the target parking space selection process (FIG. 11) of the first embodiment except that step S208 is not present. However, in steps S206 and S207, a higher score is assigned to a parking space having a condition that allows parking with a smaller number of turn-backs.

  As described above, according to the parking assistance device 10 according to the second embodiment, when a plurality of parking spaces are detected, the parking space that is estimated to be able to park the host vehicle with the smallest number of turnovers from among them. Is selected as the target parking space. Therefore, efficient parking of the host vehicle can be realized.

  It should be noted that the present invention can be freely combined with each other within the scope of the invention, and each embodiment can be appropriately modified or omitted.

  DESCRIPTION OF SYMBOLS 1 Car body dimension data storage part, 2 Parking space detection part, 3 Road width calculation part, 4 Parking space width calculation part, 5 Own vehicle position detection part, 6 Parking space selection part, 7 Peripheral condition acquisition part, 8 Priority determination Part, 9 own vehicle control part, 10 parking support device, 50 processing circuit, 51 processor, 52 memory, 100 own vehicle, 101 existing parked vehicle, 102 ultrasonic sensor, 103 wall.

Claims (12)

A vehicle body dimension data storage unit storing vehicle body dimension data of the host vehicle;
A parking space detection unit that detects a plurality of parking spaces facing a roadway on which the host vehicle travels based on the vehicle body dimension data;
A road width calculation unit for calculating the width of the road facing each of the plurality of parking spaces;
A parking space width calculator that calculates the width of each of the plurality of parking spaces;
A host vehicle position detector for detecting the position of the host vehicle;
Based on the width of the roadway facing each of the plurality of parking spaces, the width of each of the plurality of parking spaces, and the position of the host vehicle, the vehicle is the shortest of the plurality of parking spaces. A parking space selection unit that selects a parking space estimated to be able to park the vehicle as a target parking space;
A host vehicle control unit that performs parking support control of the host vehicle so as to park the host vehicle in the target parking space;
A parking assistance device comprising: A vehicle body dimension data storage unit storing vehicle body dimension data of the host vehicle;
A parking space detection unit that detects a plurality of parking spaces facing a roadway on which the host vehicle travels based on the vehicle body dimension data;
A road width calculation unit for calculating the width of the road facing each of the plurality of parking spaces;
A parking space width calculator that calculates the width of each of the plurality of parking spaces;
A host vehicle position detector for detecting the position of the host vehicle;
Based on the width of the roadway facing each of the plurality of parking spaces, the width of each of the plurality of parking spaces, and the position of the host vehicle, the number of turnovers is the smallest among the plurality of parking spaces. A parking space selection unit that selects a parking space estimated to be able to park the vehicle as a target parking space;
A host vehicle control unit that performs parking support control of the host vehicle so as to park the host vehicle in the target parking space;
A parking assistance device comprising: A surrounding situation acquisition unit that acquires a surrounding situation of each of the plurality of parking spaces;
The parking space selection unit selects the target parking space in consideration of the surrounding situation of each of the plurality of parking spaces.
The parking assistance device according to claim 1 or 2. The surrounding situation detected by the surrounding situation acquisition unit is a vehicle type of an existing parked vehicle adjacent to each of the plurality of parking spaces.
The parking assistance device according to claim 3. The surrounding situation detected by the surrounding situation acquisition unit is a distance between each of the plurality of parking spaces and the entrance / exit of the parking lot,
The parking assistance device according to claim 3. A vehicle type of an existing parked vehicle adjacent to each of the plurality of parking spaces, and a surrounding situation acquisition unit that detects a distance between each of the plurality of parking spaces and an entrance / exit of a parking lot;
A priority determination unit that determines a priority relationship between a vehicle type of an existing parked vehicle adjacent to each of the plurality of parking spaces, and a distance between each of the plurality of parking spaces and the entrance / exit of the parking lot, according to a user instruction;
Further comprising
The parking space selection unit takes into account the higher priority among the types of existing parked vehicles adjacent to each of the plurality of parking spaces and the distance between each of the plurality of parking spaces and the entrance / exit of the parking lot. To select the target parking space,
The parking assistance device according to claim 1 or 2. A parking support method in a parking support device,
The parking space detection unit of the parking assistance device detects a plurality of parking spaces facing the roadway on which the host vehicle travels based on the body size data of the host vehicle,
A road width calculation unit of the parking assist device calculates a width of the road facing each of the plurality of parking spaces;
The parking space width calculation unit of the parking assist device calculates the width of each of the plurality of parking spaces,
The own vehicle position detection unit of the parking assistance device detects the position of the own vehicle,
The parking space selection unit of the parking assist device, based on the width of the roadway facing each of the plurality of parking spaces, the width of each of the plurality of parking spaces, and the position of the host vehicle, Select the parking space that is estimated to be able to park the vehicle in the shortest time among the parking spaces as the target parking space,
The host vehicle control unit of the parking support device performs parking support control of the host vehicle so as to park the host vehicle in the target parking space.
Parking assistance method. A parking support method in a parking support device,
The parking space detection unit of the parking assistance device detects a plurality of parking spaces facing the roadway on which the host vehicle travels based on the body size data of the host vehicle,
A road width calculation unit of the parking assist device calculates a width of the road facing each of the plurality of parking spaces;
The parking space width calculation unit of the parking assist device calculates the width of each of the plurality of parking spaces,
The own vehicle position detection unit of the parking assistance device detects the position of the own vehicle,
The parking space selection unit of the parking assist device, based on the width of the roadway facing each of the plurality of parking spaces, the width of each of the plurality of parking spaces, and the position of the host vehicle, Select the parking space that is estimated to be able to park the vehicle with the least number of turnovers from among the parking spaces as the target parking space,
The host vehicle control unit of the parking support device performs parking support control of the host vehicle so as to park the host vehicle in the target parking space.
Parking assistance method. The surrounding situation acquisition unit of the parking assistance device acquires the surrounding situation of each of the plurality of parking spaces,
The parking space selection unit selects the target parking space in consideration of the surrounding situation of each of the plurality of parking spaces.
The parking assistance method according to claim 7 or 8. The surrounding situation detected by the surrounding situation acquisition unit is a vehicle type of an existing parked vehicle adjacent to each of the plurality of parking spaces.
The parking assistance method according to claim 9. The surrounding situation detected by the surrounding situation acquisition unit is a distance between each of the plurality of parking spaces and the entrance / exit of the parking lot,
The parking assistance method according to claim 9. The surrounding situation acquisition unit of the parking assist device detects the type of the existing parked vehicle adjacent to each of the plurality of parking spaces, and the distance between each of the plurality of parking spaces and the entrance / exit of the parking lot,
The priority determination unit of the parking assistance device determines the priority relationship between the model of the existing parked vehicle adjacent to each of the plurality of parking spaces and the distance between each of the plurality of parking spaces and the entrance / exit of the parking lot. Decide according to the instructions,
The parking space selection unit takes into account the higher priority among the types of existing parked vehicles adjacent to each of the plurality of parking spaces and the distance between each of the plurality of parking spaces and the entrance / exit of the parking lot. To select the target parking space,
The parking assistance method according to claim 7 or 8.

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