JP6519366B2 - Parking support device and parking support method - Google Patents

Description

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

  At present, a parking assist system is known in which a vehicle is automatically controlled toward a parking space. In this parking assistance device, it is necessary to detect in advance the parking space and to determine in advance whether or not the detected parking space can be parked. As an example of a parking assistance device in which the vehicle performs the parking determination for any parking space, there is a parking determination device for a vehicle described in Patent Document 1. The parking assistance device described in Patent Document 1 performs the parking possibility determination using the width of the road facing the parking space and the width of the parking space. In the parking assistance device described in Patent Document 1, in addition to the width of the parking space, by considering the width of the road, parking can be performed by turning a plurality of times, and the width of the road is narrow. A parking possibility determination is performed on the assumption that parking is not possible.

JP, 2009-151378, A

  For example, when the vehicle automatically performs a parking operation on a parking space at the wall, it is necessary to control the vehicle so as to park the vehicle while avoiding crossing with the wall. However, in the parking assistance device described in Patent Document 1, the parking possibility determination for the parking space is performed based on only the two width informations of the width of the parking space and the width of the road. Therefore, for example, even if it is not possible to actually park since the turning point on the parking path of the vehicle intersects with the wall, the parking possibility determination can not be made before the control of the parking operation is started. Therefore, it may be determined that the parking operation can be performed on a parking space where the parking operation can not actually be performed.

  The present invention has been made in view of such circumstances, and it is possible to accurately determine whether a vehicle can perform a parking operation on any parking space, and a parking assistance method and a parking assistance method Intended to provide.

  In order to solve the above problems, in a parking assistance apparatus and a parking assistance method according to an aspect of the present invention, distance information of the environment around the vehicle is acquired at predetermined time intervals, and based on the distance information The parking space for parallel parking is detected, the width and depth of the parking space are calculated, the width and depth of the road facing the parking space are calculated, and the width of the parking space and the depth of the parking space are calculated. If it is determined that the size of the parking space is appropriate for the vehicle, and if it is determined that the size of the parking space is appropriate for the vehicle, the width of the parking space, the width of the roadway, And, based on the depth of the road, it is determined whether the vehicle can perform the parking operation on the parking space.

  According to one aspect of the present invention, the vehicle performs a parking operation on any parking space by considering not only the width of the road and the width of the parking space on the road surface facing the parking space but also the depth of the road. It is possible to accurately determine whether it is possible to carry out

It is a conceptual diagram of the parking assistance device concerning one embodiment of the present invention. It is a block diagram showing an example of composition of a parking assistance device concerning one embodiment of the present invention. It is a flow chart which shows a flow of processing of the whole parking assistance device concerning one embodiment of the present invention. It is a flowchart which shows the detail of the flow of a process of the parking operation performance decision | judging determination in said whole process. It is a figure showing an example of the map which showed the correlation with the width of a roadway and the width of a parking space. It is an overhead view which shows a vehicle, a parking space, and a road. The conceptual diagram of the flow of a process of the parking assistance apparatus in Example 1 is shown. The detail of the flow of the processing of the backward parking operation performance determination in Example 1 is shown. The conceptual diagram of the flow of a process of the parking assistance apparatus in Example 2 is shown. The detail of the flow of the process of determination of back parking operation performance availability in Example 2 is shown. The conceptual diagram of the flow of a process of the parking assistance apparatus in Example 3 is shown. The detail of the flow of the process of determination of back parking operation performance availability in Example 3 is shown.

Next, embodiments of the present invention will be described with reference to the drawings. In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals. However, it should be noted that the drawings are schematic and different from real ones. Therefore, specific components should be determined in consideration of the following description.
In addition, the embodiments described below illustrate apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention includes the shape, structure, arrangement, and the like of components. It does not specify the following. The technical idea of the present invention can be variously modified within the technical scope defined by the claims described in the claims.

Embodiment
(System configuration)
As shown in FIG. 1, a parking assistance apparatus according to an embodiment of the present invention includes an observation unit 10, a control device 20, and a driving assistance system 30.

  The observation unit 10 is mounted on the vehicle A, acquires distance information on the surrounding environment of the vehicle A at predetermined time intervals, and outputs the distance information to the control device 20. For example, the observation unit 10 is a distance measuring device such as a laser range finder. The observation unit 10 may be a measuring device that calculates the distance based on an image obtained by a distance measuring device such as sonar or millimeter wave radar, or an imaging device such as a camera. The observation unit 10 is installed at a place other than the vehicle A, such as a parking lot or a road, observes the environment around the vehicle A, and acquires distance information between the vehicle A and the observed environment. Also good. Here, the observation unit 10 acquires distance information such as a parking frame of a parking lot and a garage as distance information on the surrounding environment of the vehicle A. In practice, the observation unit 10 further uses road boundary lines (white lines, division lines, etc.), road edges (curb stones, guardrails, side walls, median dividers, etc.), and the like as distance information on the surrounding environment of the vehicle A. The distance information of a vehicle, a building, another structure, or some kind of object may be acquired. For example, it is also conceivable that the area enclosed by these becomes a roadway or a parking space. In addition, there is a possibility that a part of another vehicle or some kind of object or the like intrudes inside the roadway or the parking space.

  The control device 20 detects a parking space for parallel parking around the vehicle A based on the distance information obtained from the observation unit 10, and detects the width and depth of the parking space, and a roadway facing the parking space. Calculate the width and depth of the parking space, and determine whether the size of the parking space is appropriate for the vehicle A based on the width of the parking space and the depth of the parking space; If it is determined that the vehicle A is appropriate, the vehicle A determines that both the width of the parking space and the width of the roadway, and the depth of the parking space and / or the depth of the roadway (both are acceptable). It is determined whether the parking operation can be performed on the parking space. Then, the control device 20 transmits the determination result as to whether or not the parking operation can be performed on the parking space to the driving support system 30 in the subsequent stage. Alternatively, when it is determined that the vehicle A can perform the parking operation on the parking space, the control device 20 transmits a parking instruction to the parking space to the driving support system 30. Details of the control device 20 will be described later.

  The driving support system 30 performs driving support such as a warning and / or control and the like on the vehicle A based on the determination result or the parking instruction transferred from the control device 20. The driving support system 30 is, for example, a known driving support system such as a parking support system, a collision avoidance brake, a rear side warning, an automatic travel system, and the like. Since the processing in the driving support system 30 is a known technology, the description will not be repeated.

  The control device 20 and the driving support system 30 may be independent devices or may be integrated. It is sufficient if at least communication or cooperation is possible. An electronic control unit (ECU) is assumed as an example of the control device 20 and the driving support system 30. However, in practice, the control device 20 and the driving support system 30 may be a computer, a smartphone, a tablet terminal, a car navigation system, or the like.

(Details of control device)
Details of the control device 20 will be described with reference to FIG.
The control device 20 includes a parking space detection unit 21, a parking space width calculation unit 22, a parking space depth calculation unit 23, a parking space size determination unit 24, a road width calculation unit 25, and a road depth calculation unit 26. And a parking operation performance determination unit 27.

The parking space detection unit 21 detects a parking space for parallel parking around the vehicle A based on the distance information from the observation unit 10.
The parking space width calculation unit 22 calculates the width of the parking space detected by the parking space detection unit 21 based on the distance information from the observation unit 10.
The parking space depth calculation unit 23 calculates the depth of the parking space detected by the parking space detection unit 21 based on the distance information from the observation unit 10.

  Based on the width of the parking space calculated by the parking space width calculation unit 22 and the depth of the parking space calculated by the parking space depth calculation unit 23, the parking space size determination unit 24 parks the vehicle A relative to the vehicle A. It is determined whether the size of the parking space detected by the space detection unit 21 is appropriate. Specifically, the parking space size determination unit 24 collates the width and depth of the parking space with the size data of the vehicle A stored in advance (for example, the full width and the total length of the vehicle A), It is determined that the size of the parking space is appropriate for the vehicle A. For example, the parking space size determination unit 24 determines whether the width and the depth of the parking space are larger than the size data of the vehicle A, and determines that the width and the depth of the parking space are larger than the size data of the vehicle A In this case, it is determined that the size of the parking space is appropriate for the vehicle A.

The road width calculation unit 25 calculates the width of the vehicle facing the parking space based on the distance information from the observation unit 10.
The travel path depth calculation unit 26 calculates the depth of the travel path facing the parking space based on the distance information from the observation unit 10.
The parking operation performance determination unit 27 calculates both the width of the parking space calculated by the parking space width calculating unit 22 and the width of the vehicle path calculated by the vehicle path width calculating unit 25 and the parking space depth calculating unit 23 The vehicle A parks the parking space determined by the parking space size determining unit 24 based on at least one of the calculated parking space depth and the road depth calculated by the road depth calculation unit 26. A determination is made as to whether the action can be performed.

(Flow of the whole process)
The flow of the overall processing of the parking assistance device according to the present embodiment will be described with reference to FIG.
First, the parking assistance device detects that the parking mode of the vehicle A has been turned ON by the driver's instruction (step S1).
Next, the parking assistance device acquires distance information on the surrounding environment of the vehicle A using the observation unit 10 while the vehicle A is traveling in the parking lot while the parking mode of the vehicle A is ON (step S2). .
Next, the parking assistance device determines whether the parking space is detected by the parking space detection unit 21 based on the distance information acquired from the observation unit 10 (step S3).

When the parking assistance device determines that the parking space is detected by the parking space detection unit 21 (Yes in step S3), the parking space width calculation unit 22 and the parking space depth calculation unit 23 determine the width and the depth of the parking space. Calculate (step S4).
Next, the parking assistance device determines whether the detected parking space size is appropriate for the vehicle A based on the dimensional data of the vehicle A stored in advance by the parking space size determination unit 24 (Step S5).

When the parking assistance device determines that the parking space size is appropriate for the vehicle A by the parking space size determination unit 24 (Yes in step S5), the road width calculation unit 25 and the road depth calculation unit The width and depth of the road facing the parking space are calculated at step 26 (step S6).
Next, the parking assistance apparatus determines whether or not the vehicle A can perform the parking operation on the parking space by the parking operation performance determination unit 27 (parking operation execution availability determination) (step S7). Details of this parking operation performance determination will be described later.

  Here, when it is determined that the parking space is not detected by the parking space detection unit 21 (No in step S3), the parking space size determination unit 24 determines that the parking space has an appropriate size for the vehicle A. If it is determined that the vehicle A is not capable of performing the parking operation on the parking space by the parking operation performance determination unit 27 (No at step S7). , The observation unit 10 continues to acquire distance information on the surrounding environment of the vehicle A (return to step S2). Then, the parking assistance device starts searching for another parking space by the parking space detection unit 21 (step S3). At this time, the parking assistance device determines that the parking space can be a new parking space by the parking space detection unit 21 until it is determined that the parking operation can be performed on the parking space by the parking operation performance determination unit 27. Repeat the search for

  The parking support device determines that the parking operation can be performed on the parking space by the parking operation performance determination unit 27 (Yes in step S7), the driving support system 30 Control is performed to park the vehicle A in the parking space (step S8). The parking assistance apparatus determines whether parking in the parking space has been completed by the driving assistance system 30 (step S9).

  When parking in the parking space is not completed (No in step S9), the parking assistance device continues control of control and drive so that the vehicle A is parked in the parking space by the driving assistance system 30 (in step S8). Return). When parking in the parking space is completed (Yes in step S9), the parking assistance device turns off the parking mode of the vehicle A according to a driver's instruction or automatically (step S10).

(Details of parking operation performance judgment)
With reference to FIG. 4, the flow of the processing of the parking operation performance determination as described above (step S7 in FIG. 3) will be described.
First, the parking assistance apparatus refers to the map stored in advance based on the width of the road calculated by the road width calculation unit 25 by the parking performance feasibility determination unit 27 and determines the minimum width of the parking space. A value is calculated (step T1).
For example, the parking assistance apparatus calculates the minimum value of the width of the parking space corresponding to the width of the road by referring to the map showing the correlation between the width of the road and the width of the parking space as shown in FIG. Do. In the map shown in FIG. 5, when the width of the road is αm, the minimum value of the width of the parking space is set to βm. This map is at least a map showing the correlation between the width of the roadway necessary for the vehicle A to perform the parking operation and the width of the parking space. In the present embodiment, the map used by the parking assistance device has contents corresponding to vehicle characteristics such as at least the dimension of the vehicle A and the minimum turning radius.
Next, the parking assistance device determines whether or not the width of the parking space calculated by the parking space width calculating unit 22 is larger than the minimum value by the parking operation performance determination unit 27 (step T2).

  When the parking assistance device determines that the width of the parking space is equal to or less than the minimum value by the parking operation performance determination unit 27 (No in step T2), the vehicle A performs the parking operation on the parking space It is determined that it is impossible (step T3).

When the parking assistance device determines that the width of the parking space is larger than the minimum value by the parking operation performance determination unit 27 (Yes in step T2), at least one of the depth of the parking space and the depth of the road A predetermined threshold value for is calculated (step T4).
The predetermined threshold may be the entire length of the vehicle A. The predetermined threshold may be a minimum value of the depth of the parking space and the depth of the roadway. For example, the parking assistance apparatus calculates the minimum value of the width of the parking space by referring to the map showing the correlation between the width of the road and the width of the parking space as shown in FIG. The depth of the parking space, referring to the map (not shown) showing the correlation between the depth of the parking space and the road, and the map (not shown) showing the correlation between the width of the road and the depth of the road And each minimum value of the depth of a road may be calculated.
Next, the parking assistance device determines whether or not at least one of the depth of the parking space and the depth of the road is larger than a predetermined threshold value by the parking operation performance determination unit 27 (step T5).

  When the parking assistance device determines that at least one of the depth of the parking space and the depth of the road is a value larger than the threshold value by the parking operation performance determination unit 27 (Yes in step T5), the vehicle A Determines that the parking operation can be performed on the parking space (step T6).

  When the parking operation performance determination unit 27 determines that both the depth of the parking space and the depth of the roadway are equal to or less than the threshold (No in step T5), the vehicle A is directed to the parking space. It is determined that the parking operation can not be performed.

In the parking assistance device according to the present embodiment, not only the width of the road and the width of the parking space on the road surface facing the parking space but also the depth of the road is taken into consideration in the backward movement using the depth of the road. It is possible to determine whether to perform the parking operation. Details will be described in Example 1 described later.
In addition, in the parking assistance device according to the present embodiment, not only the width of the road of the road facing the parking space and the width of the parking space but also the depth of the parking space is taken into consideration. It is possible to determine whether or not to perform the parking operation in Details will be described in a second embodiment described later.
In addition, in the parking assistance device according to the present embodiment, not only the width of the road on the road surface facing the parking space and the width of the parking space but by considering both the depth of the road and the depth of the parking space It is possible to determine whether to perform both forward and reverse parking operations. Details will be described in a third embodiment described later.
Thereby, in the parking assistance device according to the present embodiment, it is possible to more accurately determine whether or not the parking operation can be performed.

Next, specific examples of the parking assistance device according to the present embodiment will be described below.
FIG. 6 is a bird's-eye view showing a vehicle A equipped with the parking assistance device according to the present embodiment, a parking space P, and a roadway W, where the width P _{1 of} the parking space and the depth P _{2 of the} parking space The width W _{1 of} the roadway and the depth W ₂ of the roadway are shown.
Here, it is assumed parallel parking, the width W ₁ of the wide P ₁ and car path of the parking space, the distance in the direction perpendicular to each other, corresponding to the width direction of the vehicle A. Further, the depth W ₂ of depth P ₂ and car path of the parking space, the distance in the direction perpendicular to each other, corresponding to the longitudinal direction of the vehicle A.
Parking assistance apparatus in the embodiment below, in addition to the width P ₁ and width W ₁ of the car path of the parking space, with a further at least one of the depth W ₂ of depth P ₂ and car path of parking spaces, the ( It is determined whether the parking operation can be performed in step S7) of FIG.

(Rejective parking operation performance judgment)
In the first embodiment, it is determined whether or not the vehicle A can perform the parking operation backward with respect to the parking space in the parking operation performance determination described above (step S7 in FIG. 3).
FIG. 7 is a conceptual diagram of a process flow of the parking assistance device in the first embodiment.
As shown in FIG. 7, in the first embodiment, the parking operation performance determination unit 27 calculates the “parking space width P ₁ ” calculated by the parking space width calculating unit 22 and the road width calculation unit 25. The vehicle A is determined by the parking space size determination unit 24 using three pieces of information of “vehicle width W ₁ ” and “vehicle length W ₂ ” calculated by the vehicle depth calculation unit 26. It is judged whether or not it is possible to execute the "parking operation in the reverse direction" with respect to the parking space P (the backward parking operation can be performed). Details of the backward parking operation performance determination will be described below.

(Details of backward parking operation performance determination)
With reference to FIG. 8, the flow of the process of determining whether to perform the backward parking operation in the first embodiment will be described.
First, the parking assist device, the parking operation performed determination unit 27, based on the width W ₁ of the vehicle path calculated by Kurumaji width calculation unit 25, by referring to the map stored, the width of the parking space The minimum value P _{1 min of} is calculated (step U1).
For example, the parking assist apparatus, by referring to a map showing the correlation between the width of the width and the parking space of the car path, as shown in FIG. 5, the minimum value of the width of the parking space corresponding to the width W ₁ of Kurumaji Calculate P _{1 min} .
Then, the parking assist device, the parking operation performed judging unit 27 judges whether the width P ₁ of the calculated parking space is larger than the minimum value P _1min by the parking space width calculation unit 22 (Step U2).

Parking assist apparatus retracted, by the parking operation performed determination unit 27, when the width P ₁ of the parking space is equal to or less than the minimum value P _1min (No in Step U2), the vehicle A parking space It is determined that it is impossible to carry out the parking operation at step # 3 (step U3).

Parking assist device, the parking operation performed determination unit 27, when the width P ₁ of the parking space is determined to be greater than the minimum value P _1min (Yes in Step U2), the predetermined threshold for the depth of Kurumaji Calculate (step U4).
Here, the predetermined threshold value for the depth of the road is the minimum value W _{2 min} of the depth of the road. For example, the parking assistance apparatus determines the minimum value W of the depth of the road by referring to a map (not shown) showing the correlation between the width of the road and the depth of the road by the parking performance feasibility determination unit 27. _You may calculate _{2 min} . The minimum value W _{2 min} of the depth of the road may be the entire length of the vehicle A.
Then, the parking assist device, the parking operation performed determination unit 27, the depth W ₂ of the car path calculated by Kurumaji depth computing unit 26 determines whether or not larger than a predetermined threshold value (step U5).

Parking assist apparatus retracted, by the parking operation performed determination unit 27, when it is determined that the value greater than the depth W ₂ are threshold Kurumaji (Yes in Step U5), the vehicle A parking space It is determined that it is possible to carry out the parking operation at step U6 (step U6).

Parking assist device, the parking operation performed determination unit 27, when the depth W ₂ of Kurumaji is equal to or less than the threshold value (No in Step U5), a parking operation in backward relative to the vehicle A parking space Determine that it is impossible to carry out.

  By performing the processing as described above, when the turning point on the parking path of the vehicle A intersects with the wall, it is determined that the execution of the parking operation in the backward is not possible, and therefore the parking operation execution availability determination You can do it properly.

(A forward parking operation performance decision judgment)
In the second embodiment, it is determined whether or not the vehicle A can perform the parking operation in the forward direction with respect to the parking space in the parking operation performance determination described above (step S7 in FIG. 3).
The conceptual diagram of the flow of a process of the parking assistance apparatus in Example 2 is shown in FIG.
As shown in FIG. 9, in the second embodiment, the parking operation performance determination unit 27 calculates the “parking space width P ₁ ” calculated by the parking space width calculating unit 22 and the parking space depth calculating unit 23. The vehicle A is determined by the parking space size determination unit 24 using three pieces of information of “depth P _{2 of the} parking space” and “width W _{1 of the} roadway” calculated by the roadway width calculation unit 25. It is determined whether it is possible to execute the "parking operation in the forward direction" with respect to the parking space P (the forward parking operation can be performed). Details of the forward parking operation performance determination will be described below.
In the second embodiment, since the “path length W ₂ ” is not used, the path depth calculation unit 26 may be omitted.

(Details of forward parking operation performance determination)
With reference to FIG. 10, the process flow of forward parking operation performance determination in the second embodiment will be described.
First, the parking assist device, the parking operation performed determination unit 27, based on the width W ₁ of the vehicle path calculated by Kurumaji width calculation unit 25, by referring to the map stored, the width of the parking space The minimum value P _{1 min of} is calculated (step V1).
For example, the parking assist apparatus, by referring to a map showing the correlation between the width of the width and the parking space of the car path, as shown in FIG. 5, the minimum value of the width of the parking space corresponding to the width W ₁ of Kurumaji Calculate P _{1 min} .
Then, the parking assist device, the parking operation performed judging unit 27 judges whether the width P ₁ of the calculated parking space is larger than the minimum value P _1min by the parking space width calculation unit 22 (step V2).

Parking assist apparatus advancing, by the parking operation performed determination unit 27, when the width P ₁ of the parking space is equal to or less than the minimum value P _1min (No in Step V2), the vehicle A parking space It is determined that it is impossible to perform the parking operation at step V3 (step V3).

Parking assist device, the parking operation performed determination unit 27, when the parking range P ₁ space is determined to be greater than the minimum value P _1min is a predetermined threshold value with respect to the depth of (Yes in Step V2), parking space Calculate (step V4).
Here, the predetermined threshold for the depth of the parking space is the minimum value P _{2 min} of the depth of the parking space. For example, the parking assistance apparatus determines the minimum value P of the depth of the parking space by referring to a map (not shown) showing the correlation between the width of the parking space and the depth of the parking space by the parking operation performance determination unit 27. _You may calculate _{2 min} . The minimum value P _{2 min} of the depth of the parking space may be the entire length of the vehicle A.
Then, the parking assist device, the parking operation performed determination unit 27 determines the parking space depth computing unit 23 depth P ₂ parking spaces calculated by whether greater than a predetermined threshold value mentioned setting contents (Step V5).

Parking assist device, when the depth P ₂ parking spaces is determined to be larger than the predetermined threshold (Yes in step V5), by the parking operation performed determination unit 27, the vehicle A is to Pool And determine that it is possible to carry out the parking operation in the forward direction (step V6).

Parking assist device, the parking operation performed determination unit 27, when the depth P ₂ parking spaces is equal to or less than a predetermined threshold value (at step V5 No), the forward relative to the vehicle A parking space It is determined that it is impossible to carry out the parking operation of (step V3).

  By performing the processing as described above, when it is determined that the parking operation can be performed in the forward direction when the depth of the parking space is sufficient, it can be appropriately determined whether the parking operation can be performed or not. .

(Rejected / Forward Parking Operation Performability Determination)
In the third embodiment, it is determined whether the vehicle A can perform the parking operation in the forward or backward direction with respect to the parking space in the parking operation performance determination described above (step S7 in FIG. 3). Do.
FIG. 11 is a conceptual diagram of a process flow of the parking assistance device in the third embodiment.
As shown in FIG. 11, in the third embodiment, the parking operation performance determination unit 27 calculates “the parking space width P ₁ ” calculated by the parking space width calculation unit 22 and the parking space depth calculation unit 23. "The depth P _{2 of the} parking space", "the width W _{1 of the} road calculated by the road width calculation unit 25", and "the depth W _{2 of the} road calculated by the road depth calculation unit 26" Determination of whether or not the vehicle A can execute the “parking operation in forward or backward” with respect to the parking space P determined by the parking space size determination unit 24 using the four pieces of information Perform back / forward parking operation performance determination). Details of the reverse / forward parking operation performance determination will be described below.

(Details of Reverse / Forward Parking Operation Execution Judgment)
With reference to FIG. 12, the flow of processing for determining whether or not the reverse / forward parking operation can be performed in the third embodiment will be described.
First, the parking assist device, the parking operation performed determination unit 27, based on the width W ₁ of the vehicle path calculated by Kurumaji width calculation unit 25, by referring to the map stored, the width of the parking space The minimum value P _{1 min of} is calculated (step W1).
For example, the parking assist apparatus, by referring to a map showing the correlation between the width of the width and the parking space of the car path, as shown in FIG. 5, the minimum value of the width of the parking space corresponding to the width W ₁ of Kurumaji Calculate P _{1 min} .
Then, the parking assist device, the parking operation performed judging unit 27 judges whether the width P ₁ of the calculated parking space is larger than the minimum value P _1min by the parking space width calculation unit 22 (step W2).

Parking assist device, the parking operation performed determination unit 27, when the width P ₁ of the parking space is equal to or less than the minimum value P _1min (No in Step W2), backward, regardless of the forward, the parking operation Are determined to be impossible (step W3).

When the parking assistance device determines that the width P ₁ of the parking space is larger than the minimum value P _{1 min} by the parking operation performance determination unit 27 (Yes in step W 2), the first threshold for the depth of the road Is calculated (step W4).
Here, the first threshold for the depth of the road is the minimum value W _{2 min} of the depth of the road. For example, the parking assistance apparatus determines the minimum value W of the depth of the road by referring to a map (not shown) showing the correlation between the width of the road and the depth of the road by the parking performance feasibility determination unit 27. _You may calculate _{2 min} .
Then, the parking assist device, the parking operation performed determination unit 27 determines whether the depth W ₂ of the car path calculated by Kurumaji depth computing unit 26 is larger than the first threshold value (step W5).

Parking assist device, the parking operation performed determination unit 27, when the depth W ₂ of the car path calculated by Kurumaji depth computing unit 26 is determined to be larger than the first threshold (step W5 Yes), it is determined that the vehicle A can perform the parking operation backward with respect to the parking space (step W6).

When the parking assistance device determines that the parking operation performance determination unit 27 does not exceed the first threshold (No in step W5), it determines that the parking operation can not be performed in the reverse direction. Then, a second threshold for the depth of the parking space is calculated (step W7).
Here, this second threshold is assumed to be the minimum value P _{2 min} of the depth of the parking space. For example, the parking assistance apparatus determines the minimum value P of the depth of the parking space by referring to a map (not shown) showing the correlation between the width of the parking space and the depth of the parking space by the parking operation performance determination unit 27. _You may calculate _{2 min} . The minimum value P _{2 min} of the depth of the parking space may be the entire length of the vehicle A.
Then, the parking assist device, the parking operation performed determination unit 27, a depth P ₂ parking spaces calculated by the parking space depth computing unit 23 determines whether or not greater than the second threshold value (step W8).

Parking assist device, the parking operation performed determination unit 27, when the depth P ₂ parking spaces is determined to be larger than the second threshold value (Yes in step W8), the vehicle A parking space On the other hand, it is determined that the forward parking operation can be performed (step W9).

Parking assist device, the parking operation performed determination unit 27, when the depth P ₂ parking spaces is equal to or less than the second threshold (No at step W8), backward, regardless of the forward, the parking operation Are determined to be impossible (step W3).

  By performing the processing as described above, when the turning point on the parking path of the vehicle A intersects with the wall, it is determined that the execution of the parking operation in the backward is not possible, and therefore the parking operation execution availability determination You can do it properly. In addition, when it is determined that the parking operation can be performed in the forward direction when the parking space has a sufficient depth, it is possible to appropriately determine whether the parking operation can be performed.

(Modification)
In the above description, the parking space detection unit 21, the parking space width calculation unit 22, the parking space depth calculation unit 23, and the parking space size determination unit 24 are described independently for convenience of explanation, but in practice The parking space detection unit 21, the parking space width calculation unit 22, the parking space depth calculation unit 23, and the parking space size determination unit 24 may be integrated to be integrated as a parking space determination unit (not shown).
For example, when the parking space determination unit calculates the width and the depth of the vacant space around the vehicle A based on the distance information from the observation unit 10, the width and the depth of the vacant space and the dimension data of the vehicle A If there is a match, it may be determined that the empty space is appropriate as a parking space.
In addition, this parking space judgment unit corresponds to the case where the parking space is a garage, a mechanical parking lot or the like, and further, based on the distance information from the observation unit 10, the height of the vacant space around the vehicle A It is possible to calculate and compare the height of the vacant space with the height of the vehicle A, and if it matches, determine that the vacant space is appropriate as the parking space.

(Effect of this embodiment)
According to the present embodiment, the following effects can be obtained.
(1) The parking assistance device according to the present embodiment acquires distance information of the surrounding environment of the vehicle at predetermined time intervals, detects a parking space for parallel parking around the vehicle based on the distance information, and Calculate the width and depth of the parking space, calculate the width and depth of the road facing the parking space, and based on the width of the parking space and the depth of the parking space, the size of the parking space is appropriate for the vehicle If it is determined that the size of the parking space is appropriate for the vehicle, the vehicle is parked based on the width of the parking space, the width of the road, and the depth of the road. It is determined whether it is possible to perform a parking operation on the space.
As a result, not only the width of the parking space and the width of the roadway but also the depth of the roadway are taken into consideration in the parking operation performance determination, and therefore, if the turning point on the parking path of the vehicle intersects the wall, Since it is determined that the execution of the parking operation in the case is impossible, it is possible to appropriately determine whether the parking operation can be performed.

(2) The parking assistance apparatus according to the present embodiment refers to the map stored in advance that shows the correlation between the width of the road and the width of the parking space, and the width of the parking space corresponding to the width of the road When it is determined that the width of the parking space is equal to or less than the minimum value, it is determined that the vehicle can not perform the parking operation backward with respect to the parking space, and the parking space is determined. If it is determined that the width of the road is greater than the minimum value, it is determined whether the depth of the road is greater than a predetermined threshold, and if it is determined that the depth of the road is greater than the threshold, the vehicle When it is determined that it is possible to perform the parking operation in the backward direction with respect to the parking space, and when it is determined that the depth of the road is less than the threshold, the parking operation in the backward direction with respect to the parking space It is determined that it is impossible to carry out
As a result, since the map showing correlation between the width of the vehicle and the width of the parking space is used in the parking operation performance determination, calculation of the minimum value of the width of the parking space according to the width of the vehicle is simplified. Can be In addition, since the threshold value is used to determine whether the parking operation can be performed in consideration of the depth of the vehicle, the processing load of the parking operation performance determination can be reduced, and the parking operation performance determination for backward parking can be appropriately and immediately performed. be able to.

(3) The parking assistance apparatus according to the present embodiment acquires distance information of the environment surrounding the vehicle at predetermined time intervals, detects a parking space for parallel parking around the vehicle based on the distance information, and Calculate the width and depth of the parking space, calculate the width of the road facing the parking space, and based on the width of the parking space and the depth of the parking space, is the parking space size appropriate for the vehicle? If it is determined that the size of the parking space is appropriate for the vehicle, the vehicle is parked in the parking space based on the width of the parking space, the depth of the parking space, and the width of the roadway. It is determined whether it is possible to perform the parking operation.
As a result, not only the width of the parking space and the width of the roadway but also the depth of the parking space are considered in the parking operation performance determination, and therefore, if the parking space has sufficient depth, Since it is determined that execution is possible, it is possible to appropriately determine whether the parking operation can be performed.

(4) The parking assistance apparatus according to the present embodiment refers to the map stored in advance that shows the correlation between the width of the road and the width of the parking space, and the width of the parking space corresponding to the width of the road When it is determined that the width of the parking space is equal to or less than the minimum value, it is determined that the vehicle can not perform the parking operation in the forward direction with respect to the parking space, and the parking space is determined. If it is determined that the width of the parking space is greater than the minimum value, it is determined whether the depth of the parking space is greater than a predetermined threshold, and if it is determined that the depth of the parking space is greater than the threshold, the vehicle When it is determined that it is possible to perform a parking operation in the forward direction with respect to the parking space, and it is determined that the parking space is below the threshold of the parking space, the vehicle performs the parking operation in the forward direction with respect to the parking space. That it is impossible to do To.
As a result, since the map showing correlation between the width of the vehicle and the width of the parking space is used in the parking operation performance determination, calculation of the minimum value of the width of the parking space according to the width of the vehicle is simplified. Can be In addition, since the parking operation performance determination in consideration of the depth of the parking space is performed using the threshold value, the processing load of the parking operation performance determination can be reduced, and the parking operation performance determination for forward parking can be appropriately and immediately performed. be able to.

(5) The parking assistance device according to the present embodiment acquires distance information of the environment surrounding the vehicle at predetermined time intervals, detects a parking space for parallel parking around the vehicle based on the distance information, and Calculate the width and depth of the parking space, calculate the width and depth of the road facing the parking space, and based on the width of the parking space and the depth of the parking space, the size of the parking space is appropriate for the vehicle If it is determined that the size of the parking space is appropriate for the vehicle, based on the width of the parking space, the depth of the parking space, the width of the roadway, and the depth of the roadway It is determined whether the vehicle can perform a parking operation on the parking space.
As a result, in the parking operation performance determination, not only the width of the parking space and the width of the road but also the depth of the road and the depth of the parking space are taken into consideration. In this case, it is determined that the parking operation can not be performed in the reverse direction, so that it can be appropriately determined whether the parking operation can be performed. In addition, when it is determined that the parking operation can be performed in the forward direction when the parking space has a sufficient depth, it is possible to appropriately determine whether the parking operation can be performed.

(6) The parking assistance apparatus according to the present embodiment refers to the map stored in advance that shows the correlation between the width of the road and the width of the parking space, and the width of the parking space corresponding to the width of the road When it is determined that the width of the parking space is equal to or less than the minimum value, it is determined that it is impossible to perform the backward parking and the parking operation in the forward direction, and the width of the parking space is the smallest. If it is determined that the depth is greater than the value, it is determined whether the depth of the road is greater than the first threshold, and if it is determined that the depth of the road is greater than the first threshold, the vehicle When it is determined that the parking operation can be performed backward with respect to the parking space, and when it is determined that the depth of the road is equal to or less than the first threshold, the vehicle is retracted relative to the parking space. Determines that it is impossible to carry out the parking operation of It is determined whether the depth of the vehicle is greater than the second threshold, and if it is determined that the depth of the parking space is greater than the second threshold, the vehicle performs the parking operation in the forward direction with respect to the parking space. If it is determined that it is possible and if it is determined that the depth of the parking space is less than or equal to the second threshold, it is impossible for the vehicle to perform the parking operation in forward and backward with respect to the parking space. Determine that there is.
As a result, since the map showing the correlation between the width of the road and the width of the parking space is used in the parking operation performance determination, the calculation of the minimum value of the width of the parking space according to the width of the road can be simplified. . In addition, since the parking operation performance determination in consideration of the width of the vehicle path and the depth of the parking space is performed using the threshold value, the processing load of the parking operation performance determination can be reduced, and the parking operation performance for the backward and forward parking can be performed The determination can be made appropriately and immediately.

In addition, depending on the shape of the parking space, even if it is not possible to park backwards with respect to the parking space, parking may be possible forward. However, in the parking assistance device described in Patent Document 1, the parking possibility determination with respect to the parking space assumes only parking in a reverse direction. Therefore, it may be determined that the parking itself is not possible even in a space where parking in the forward direction is possible.
On the other hand, the parking assistance device according to the present embodiment determines that the parking operation can be performed in the forward direction after it is determined that the parking operation can not be performed in the reverse direction. It is possible to prevent that it is determined that the parking operation can not be performed despite the fact that the vehicle can be performed.

(7) In the parking assistance apparatus according to the present embodiment, the vehicle performs the parking operation on the parking space when it is determined that the vehicle can not perform the parking operation on the parking space. Repeat the search for new parking spaces until it is determined that it is possible.
As a result, when it is determined that the vehicle can not perform the parking operation on the parking space in the parking operation performance determination, the search for the parking space is repeatedly performed, so the parking operation is performed. It is possible to properly search for possible parking spaces.

<Other embodiments>
Although the present invention has been described by the above embodiments, it should not be understood that the description and the drawings, which form a part of this disclosure, limit the present invention. Various alternative embodiments, examples and operation techniques will be apparent to those skilled in the art from this disclosure.
Thus, it is a matter of course that the present invention includes various embodiments and the like which are not described herein. Therefore, the technical scope of the present invention is not limited to the above-described embodiments, and modifications within the scope of the present invention are included in the technical scope of the present invention.

A Vehicle 10 observation unit 20 control device 21 parking space detection unit 22 parking space width calculation unit 23 parking space depth calculation unit 24 parking space size determination unit 25 road width calculation unit 26 road depth calculation unit 27 parking operation performance determination unit 30 driving support system

Claims (9)

An observation unit that acquires distance information of the environment around the vehicle at predetermined time intervals;
A parking space detection unit that detects a parking space for parallel parking around the vehicle based on the distance information obtained from the observation unit;
A parking space width calculating unit that calculates the width of the parking space based on the distance information;
A parking space depth calculation unit that calculates the depth of the parking space based on the distance information;
A road width calculation unit that calculates a width of a road facing the parking space based on the distance information;
A road depth calculation unit that calculates the depth of the road based on the distance information;
A parking space size determination unit that determines whether the size of the parking space is appropriate for the vehicle based on the width of the parking space and the depth of the parking space;
If it is determined by the parking space size determination unit that the size of the parking space is appropriate for the vehicle, based on the width of the parking space, the width of the roadway, and the depth of the roadway. A parking operation performance determination unit that determines whether the vehicle can perform a parking operation on the parking space;
A parking support unit that executes parking support for the parking space when it is determined that the vehicle can perform a parking operation on the parking space;
A parking assist apparatus comprising: The parking operation performance determination unit determines
With reference to a map stored in advance that indicates the correlation between the width of the road and the width of the parking space, the minimum width of the parking space corresponding to the width of the road calculated by the road width calculation unit Find the value,
When it is determined that the width of the parking space calculated by the parking space width calculating unit is equal to or less than the minimum value, it is impossible for the vehicle to perform the parking operation backward with respect to the parking space. Determined that there is
When it is determined that the width of the parking space is larger than the minimum value, it is determined whether the depth of the road calculated by the road depth calculation unit is larger than a predetermined threshold value.
When it is determined that the depth of the vehicle path is larger than a threshold, it is determined that the vehicle can perform a parking operation in a backward direction with respect to the parking space,
When it is determined that the depth of the vehicle path is equal to or less than the threshold value, it is determined that the vehicle can not perform the parking operation in the backward direction with respect to the parking space .
When the parking support unit determines that the vehicle can perform a parking operation in a backward direction with respect to the parking space, the parking assistance unit uses the depth of the road to move back to the parking space. The parking assistance apparatus of Claim 1 which performs parking assistance. An observation unit that acquires distance information of the environment around the vehicle at predetermined time intervals;
A parking space detection unit that detects a parking space for parallel parking around the vehicle based on the distance information obtained from the observation unit;
A parking space width calculating unit that calculates the width of the parking space based on the distance information;
A parking space depth calculation unit that calculates the depth of the parking space based on the distance information;
A road width calculation unit that calculates a width of a road facing the parking space;
A parking space size determination unit that determines whether the size of the parking space is appropriate for the vehicle based on the width of the parking space and the depth of the parking space;
When it is determined by the parking space size determination unit that the size of the parking space is appropriate for the vehicle, based on the width of the parking space, the depth of the parking space, and the width of the roadway. A parking operation performance determination unit that determines whether the vehicle can perform a parking operation on the parking space;
And a parking assistance unit that executes parking assistance to the parking space ,
The parking operation performance determination unit determines
With reference to a map stored in advance that indicates the correlation between the width of the road and the width of the parking space, the minimum width of the parking space corresponding to the width of the road calculated by the road width calculation unit Find the value,
When it is determined that the width of the parking space calculated by the parking space width calculating unit is equal to or less than the minimum value, the vehicle can not perform the parking operation in the forward direction with respect to the parking space. Determined that there is
When it is determined that the width of the parking space is larger than the minimum value, it is determined whether the depth of the parking space calculated by the parking space depth calculating unit is larger than a predetermined threshold value.
When it is determined that the depth of the parking space is larger than a threshold, it is determined that the vehicle can perform the parking operation in the forward direction with respect to the parking space.
When it is determined that the depth of the parking space is equal to or less than a threshold, it is determined that the vehicle can not perform the parking operation in the forward direction with respect to the parking space.
When it is determined that the vehicle can perform the parking operation in the forward direction with respect to the parking space, the parking assistance unit executes the parking assistance in the forward direction to the parking space. And parking assistance equipment. An observation unit that acquires distance information of the environment around the vehicle at predetermined time intervals;
A parking space detection unit that detects a parking space for parallel parking around the vehicle based on the distance information obtained from the observation unit;
A parking space width calculating unit that calculates the width of the parking space based on the distance information;
A parking space depth calculation unit that calculates the depth of the parking space based on the distance information;
A road width calculation unit that calculates a width of a road facing the parking space based on the distance information;
A road depth calculation unit that calculates the depth of the road based on the distance information;
A parking space size determination unit that determines whether the size of the parking space is appropriate for the vehicle based on the width of the parking space and the depth of the parking space;
When it is determined by the parking space size determination unit that the size of the parking space is appropriate for the vehicle, the width of the parking space, the depth of the parking space, the width of the road, and the car A parking operation performance determination unit that determines whether the vehicle can perform a parking operation on the parking space based on the depth of the road;
A parking support unit that executes parking support for the parking space when it is determined that the vehicle can perform a parking operation on the parking space;
A parking assist apparatus comprising: The parking operation performance determination unit determines
With reference to a map stored in advance that indicates the correlation between the width of the road and the width of the parking space, the minimum width of the parking space corresponding to the width of the road calculated by the road width calculation unit Find the value,
When it is determined that the width of the parking space calculated by the parking space width calculating unit is equal to or less than the minimum value, it is determined that it is impossible to perform the backward parking and the parking operation in the forward direction.
When it is determined that the width of the parking space is larger than the minimum value, it is determined whether the depth of the vehicle path is larger than a first threshold,
When it is determined that the depth of the vehicle path is larger than a first threshold value, it is determined that the vehicle can perform a parking operation backward with respect to the parking space;
When it is determined that the depth of the vehicle path is equal to or less than the first threshold value, it is determined that the vehicle can not perform the parking operation backward with respect to the parking space, and the parking operation is further performed. It is determined whether the depth of the space is greater than the second threshold,
When it is determined that the depth of the parking space is larger than the second threshold, it is determined that the vehicle can perform the parking operation in the forward direction with respect to the parking space.
When it is determined that the depth of the parking space is equal to or less than a second threshold, it is determined that the vehicle can not perform the parking operation in forward or backward with respect to the parking space .
When the parking support unit determines that the vehicle can perform a parking operation in a backward direction with respect to the parking space, the parking assistance unit uses the depth of the road to move back to the parking space. The parking assistance apparatus of Claim 4 which performs parking assistance. The parking space detection unit determines that the parking operation execution availability determination unit determines that the vehicle can not perform the parking operation on the parking space by the parking operation execution availability determination unit. from claim 1, wherein the vehicle until it is determined that it is possible to perform the parking operation to the parking space, repeats the search for new parking space by
The parking assistance device according to any one of 5 . Obtain distance information of the environment around the vehicle at predetermined time intervals,
Detecting a parking space for parallel parking around the vehicle based on the distance information;
Calculating the width of the parking space and the depth of the parking space based on the distance information;
Based on the width of the parking space and the depth of the parking space, it is determined whether the size of the parking space is appropriate for the vehicle.
If it is determined that the size of the parking space is appropriate for the vehicle, the width of the road facing the parking space and the depth of the road are calculated based on the distance information,
Based on the width of the parking space, the width of the roadway, and the depth of the roadway, it is determined whether the vehicle can perform a parking operation on the parking space .
A parking assistance method characterized in that parking assistance to the parking space is executed when it is determined that the vehicle can perform a parking operation on the parking space . Obtain distance information of the environment around the vehicle at predetermined time intervals,
Detecting a parking space for parallel parking around the vehicle based on the distance information;
Calculating the width of the parking space and the depth of the parking space based on the distance information;
Based on the width of the parking space and the depth of the parking space, it is determined whether the size of the parking space is appropriate for the vehicle.
When it is determined that the size of the parking space is appropriate for the vehicle, the width of a road facing the parking space is calculated based on the distance information,
The minimum value of the width of the parking space corresponding to the calculated width of the road is determined by referring to a map stored in advance and showing the correlation between the width of the road and the width of the parking space.
When it is determined that the calculated width of the parking space is equal to or less than the minimum value, it is determined that the vehicle can not perform the parking operation in the forward direction with respect to the parking space.
When it is determined that the width of the parking space is larger than the minimum value, it is determined whether the calculated depth of the parking space is larger than a predetermined threshold value.
When it is determined that the depth of the parking space is larger than a threshold, it is determined that the vehicle can perform the parking operation in the forward direction with respect to the parking space.
When it is determined that the depth of the parking space is equal to or less than a threshold, it is determined that the vehicle can not perform the parking operation in the forward direction with respect to the parking space.
A parking assistance method characterized in that, when it is determined that the vehicle can perform a parking operation in a forward direction with respect to the parking space, a parking assistance in a forward direction to the parking space is performed . Obtain distance information of the environment around the vehicle at predetermined time intervals,
Detecting a parking space for parallel parking around the vehicle based on the distance information;
Calculating the width of the parking space and the depth of the parking space based on the distance information;
Based on the width of the parking space and the depth of the parking space, it is determined whether the size of the parking space is appropriate for the vehicle.
If it is determined that the size of the parking space is appropriate for the vehicle, the width of the road facing the parking space and the depth of the road are calculated based on the distance information,
Based on the width of the parking space, the depth of the parking space, the width of the road, and the depth of the road, it is determined whether or not the vehicle can perform a parking operation on the parking space. And
A parking assistance method characterized in that parking assistance to the parking space is executed when it is determined that the vehicle can perform a parking operation on the parking space .

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