JP6807464B2 - Parking support device - Google Patents

Description

The present invention relates to a device that assists in parking an automobile.

In recent years, a parking support device that automates a parking operation has been put into practical use for the purpose of preventing accidents and improving convenience by reducing the operation of a parked driver.

Specifically, the driver sets the target parking position, or the parking support device detects and sets the target parking position, the parking support device calculates the route from the current position to the target parking position, and steers and accelerates / decelerates on behalf of the driver. By performing the above, the vehicle automatically travels on the route.

In addition to this, there is also one having a function of detecting an obstacle around the vehicle and automatically stopping or decelerating the vehicle when it is determined that the vehicle may collide with the obstacle.

In the summary column of Patent Document 1, "From the image of the surroundings of the vehicle captured from the vehicle stopped near the target parking position, the driver uses the target parking position / parking method designation unit 40 to set the target parking position and the parking method. Is specified, the target movement route generation unit 50 generates a target movement route of the vehicle from the current position to the designated target parking position, and the parking operation execution unit 70 moves the vehicle according to the generated target movement route. When the parking completion determination unit 80 determines that the movement of the vehicle has been completed and the deviation amount calculation unit 90 calculates the magnitude and direction of the deviation between the position of the vehicle and the target parking position at that time. , The target movement route generation unit 50 causes a deviation based on the magnitude and the direction of the deviation between the position of the vehicle and the target parking position when the parking is completed a plurality of times in the past, which is stored in the deviation amount storage unit 100. Does not generate a target movement route. "

Japanese Unexamined Patent Publication No. 2014-227021

During automatic parking by the parking support device, the driver may decelerate or stop the vehicle by depressing the brake pedal for some reason. Alternatively, the driver may request the parking support device to change the target parking position during automatic parking.

For example, when approaching the target parking position, the target parking position and the surrounding environment are different from the driver's preference, or the target parking position is a parking zone dedicated to a light vehicle and the own vehicle cannot be parked. There is a case where such a situation is newly discovered.

Further, the parking support device may detect an obstacle that could not be detected at the beginning during automatic parking and automatically stop or decelerate the vehicle.

Therefore, in realizing the parking support device, it is necessary to specify the restart operation in the above case. It is desirable that the restarting operation is highly convenient without continuing the previous operation and approaching the initial target parking position so as not to violate the driver's intention.

The parking support device of the present invention includes an outside world recognition unit that recognizes the outside of the vehicle, a parking position information holding unit that holds information on a plurality of parking candidate positions recognized by the outside world recognition unit, and a plurality of the parking candidate positions. A parking position determination unit that determines a target parking position from the inside, a route calculation unit that calculates a parking route from the current position of the vehicle to the target parking position, information display to the driver, and input from the driver. The route calculation unit has a display operation unit that accepts the vehicle, and the route calculation unit meets a predetermined condition during autonomous traveling of the vehicle from the driver to the first target parking position input to the display operation unit. When the state is reached, a new parking route is calculated from the current position for each of the plurality of parking candidate positions, and the calculation of the parking route fails for all of the parking candidate positions. The display operation unit displays information indicating that there is no alternative parking position candidate .

According to the present invention, it is possible to improve the convenience of the driver or the user when parking the vehicle is assisted or automatically parked.

System diagram of an embodiment of the present invention An example of an alternative parking position candidate display screen in the first embodiment of the present invention. An example of a display screen during automatic parking in the second embodiment of the present invention. An example of an alternative parking position candidate display screen in the fourth embodiment of the present invention.

The parking support device disclosed in this column is, for example, a plurality of parking candidate positions held in the device when the state corresponding to the above-mentioned problem is reached during the implementation of automatic parking. For each, a new parking route from the current position is calculated.

Then, the parking candidate position that has succeeded in calculating a new parking route is presented to the driver as a target parking position candidate, and automatic parking at a new target parking position selected from the target parking position candidates is performed. Ask the driver if it will start.

As a result, when the driver steps on the brake and the vehicle stops during automatic parking, or when the driver wants to change the target parking position, the parking operation up to that point is continued and the original target parking position is maintained. It is possible to give the driver a sense of security because a new target parking position candidate is presented without approaching.

Further, when presenting the above-mentioned target parking position candidate, the information held by the parking support device is read out and the parking route is calculated in advance, so that the parking operation can be restarted quickly, which is convenient for the driver. Improves sex.

A first embodiment of the present invention will be described with reference to FIGS. 1 to 3.
FIG. 1 is a system configuration diagram according to the first embodiment of the present invention, which includes a parking control unit 100, an outside world sensor 200, a vehicle sensor 300, an in-vehicle network 400, 401, and a human interface (hereinafter referred to as HMI) 500. Be separated. The HMI 500 may be referred to as a display operation unit 500.

The parking control unit 100 includes an outside world recognition unit 110, a parking position information management unit 120, a route calculation unit 130, a vehicle position estimation unit 140, an acceleration / deceleration control unit 150, a steering control unit 160, and a state transition control unit 170.

The outside world recognition unit 110 recognizes a space in which the vehicle can park and obstacles around the vehicle by using the information input from the outside world sensor 200 described later.

The parking position information management unit 120 includes a parking position information holding unit 121 and a parking position determining unit 122.

The parking position information holding unit 121 holds the position information of one or more parkable spaces input from the outside world recognition unit 110 as parking candidate positions.

The parking position determination unit 122 receives instructions for selecting and fine-tuning the target parking position input from the driver via the HMI 500, and reflects them in the parking candidate position information input from the parking position information holding unit 121. , Determine the final target parking position. The determined target parking position is output to the route calculation unit 130.

The route calculation unit 130 calculates a parking route from the current position to the parking position by using the parking position input from the parking position information management unit 121 and the vehicle position input from the vehicle position estimation unit 150. ..

The HMI 500 includes an operation unit 501, a display unit 502, and a speaker 503, and a driver or a passenger gives instructions for setting a target parking position and starting and ending automatic parking via the operation unit 501. In addition, notification information to the driver is received from other components, and the content is displayed on the display unit 502, or is emitted from the speaker 503 as an alarm sound or voice guidance.

The operation unit 501 may use a physical switch arranged near the driver's seat, or may be operated by touching a button displayed on the display unit 502 with a finger. In the present invention, the operation unit 501 may be operated. Does not limit.

The own vehicle position estimation unit 140 calculates the own vehicle position information consisting of the position coordinates of the own vehicle and the yaw angle by using the wheel speed input from the wheel speed sensor 302 and the steering angle input from the steering angle sensor 303. ..

The acceleration / deceleration control unit 150 sets a target acceleration / deceleration using the parking route input from the route calculation unit 130, the wheel speed input from the wheel speed sensor 302, and the vehicle position information input from the vehicle position estimation unit 140. The engine, motor, transmission, brake, steering, etc. are controlled by calculating the drive torque and brake fluid pressure required to achieve the target acceleration / deceleration.

The steering control unit 160 calculates the target steering angle using the route information input from the route calculation unit 130 and the vehicle position information input from the vehicle position estimation unit 140, and controls the steering.

The state transition control unit 170 manages the internal state of the entire parking control unit 100, and outputs necessary instructions to each component of the parking control unit 100 at the time of the internal state transition.

The outside world sensor 200 is a device that detects the space, obstacles, and road surface markings on the outside world of the vehicle and outputs them to the outside world recognition unit 110. Specifically, a camera, sonar, radar, or a combination thereof can be considered. , In this embodiment, the type is not limited.

Depending on the type of the outside world sensor 200, the outside world sensor 200 and the outside world recognition unit 110 may be connected via the in-vehicle network 400 described later, or may be directly connected via a dedicated interface.

The vehicle sensor 300 is a general term for various sensors that detect the vehicle state. In the configuration of this embodiment, at least the brake sensor 301 that detects that the driver has stepped on the brake pedal and the wheel speed that detects the wheel speed. The sensor 302 and the steering angle sensor 303 for detecting the steering angle are included.

The in-vehicle network 400 is a network in which the parking control unit 100, the vehicle sensor 300, and the outside world sensor 200 are connected.

The in-vehicle network 401 is a network in which the parking control unit 101 and the control unit that directly controls the engine, brakes, steering, transmission, and the like are connected.

Mutual communication is possible between the components connected to each vehicle-mounted network. In this embodiment, it is assumed that the vehicle-mounted networks 400 and 401 conform to the CAN (Controller Area Network) standard, but the vehicle-mounted networks 400 and 401 do not necessarily conform to the standard.

Next, the automatic parking operation in the first embodiment will be described.
When the driver instructs the start of the search for the parkable space using the HMI 500, the outside world recognition unit 110 searches for the parkable space. As a result, when it is determined that the parkingable space exists, the outside world recognition unit 110 outputs the position information to the parking position information management unit 120.

The parking position information management unit 120 holds the parking position information input from the outside world recognition unit 110 in the parking position information holding unit 121 and outputs it to the route calculation unit 130.

The route calculation unit 130 uses the parking position information input from the parking position information management unit 120 and the vehicle position information input from the vehicle position estimation unit 140 to obtain a parking route from the current position to the parking position. calculate.

When the parking route is successfully calculated, the route calculation unit 130 outputs the calculated route information to the parking position information management unit 120.

When the calculation of the parking route fails, the route calculation unit 130 outputs information indicating that the route generation has failed to the parking position information management unit 120.

When the route information is input from the route generation unit 130 for the parking position information held in the parking position information holding unit 121, the parking position information management unit 120 outputs the corresponding parking position information and the route information to the HMI 500. , Holds route information.

The HMI 500 generates a display parking frame line and a display route line from the parking position information and the route information input from the parking position information management unit 120, and superimposes the display image on the image taken by a photographing device such as a camera. , Displayed on the display unit 502.

When there are a plurality of pairs of parking position information and route information input from the parking position information management unit 120, the HMI 500 displays the plurality of corresponding parking position candidates on the display unit 502 and displays them to the driver. A message prompting the user to select a target parking position from the parking position candidates is displayed on the display unit 502, and the driver waits for the operation of selecting the target parking position.

When the driver selects the target parking position via the operation unit 501, the HMI 500 waits for the driver to perform a fine adjustment operation of the target parking position and an instruction to start automatic parking.

On the other hand, when there is only one pair of parking position information and route information input from the parking position information management unit 120, the HMI 500 does not wait for the driver to select the target parking position, and the driver does not wait for the target parking by the driver. Wait for the position fine adjustment operation and the instruction to start automatic parking.

In the above state, when the driver gives an instruction to start automatic parking via the operation unit 501, the HMI 500 tells the parking position information management unit 120 the target parking position selected by the driver and the driver. Outputs the amount of fine adjustment of the target parking position.

The parking position information management unit 120 determines the final target parking position by the parking position determination unit 122 using the target parking position and the fine adjustment amount input from the HMI 500, and outputs the final target parking position to the route calculation unit 130.

When the fine adjustment amount of the target parking position input from the HMI 500 is 0, the corresponding route information is output to the route calculation unit 130 in addition to the target parking position.

The route calculation unit 130 uses the target parking position input from the parking position information management unit 120 and the vehicle position information input from the vehicle position estimation unit 140 to obtain a parking route from the current position to the parking position. calculate.

Next, the route calculation unit 130 outputs the calculated route information to the acceleration / deceleration control unit 150 and the steering control unit 160.

However, when the route information is input from the parking position information management unit 120 together with the target parking position, the route calculation unit 130 does not calculate the parking route and uses the input route information as it is in the acceleration / deceleration control unit 150 and steering control. Output to unit 160.

The acceleration / deceleration control unit 150 uses the parking route input from the route calculation unit 130 to perform acceleration / deceleration control so as to stop at a predetermined position after a predetermined speed change.
Further, the steering control unit 160 uses the parking route input from the route calculation unit 130 to perform steering control so as to follow the route. As described above, automatic parking is executed.

Next, the operation when the driver decelerates or stops the vehicle during automatic parking will be described.

Actions by the driver to decelerate or stop the vehicle include stepping on the brake pedal, activating the parking brake, and operating the transmission.

When the driver depresses the brake pedal, the brake sensor 301 detects that the brake pedal is depressed and transmits information indicating that the brake pedal is depressed to the vehicle-mounted network 400.

When the driver activates the parking brake, the parking brake device outputs information indicating that the parking brake is in the operating state to the in-vehicle network 400.

When the driver operates the transmission, the transmission outputs the speed change position after the operation to the in-vehicle network 400.

When the state transition control unit 170 receives any of the above signals via the vehicle-mounted network 400 while the automatic parking is being executed, the state transition control unit 170 outputs a route information output interruption instruction to the route calculation unit 130.

Further, the state transition control unit 170 outputs a vehicle stop instruction to the acceleration / deceleration control unit 150.

Further, the state transition control unit 170 outputs a reading instruction of the held parking candidate position to the parking position information management unit 120.

When the route information interruption / stop instruction is input from the state transition control unit 170, the route calculation unit 130 outputs the route information to the acceleration / deceleration control unit 150 and the steering control unit 160 while holding the target route information inside. To stop.

When the vehicle stop instruction is input from the state transition control unit 170, the acceleration / deceleration control unit 150 performs deceleration control so that the speed becomes 0 after a predetermined speed change.

When the parking position information management unit 120 receives an instruction to read out the parking candidate position from the state transition control unit 170, the parking position information management unit 120 reads out the parking candidate position held in the parking position information holding unit 121 and outputs it to the route calculation unit 130. ..

The route calculation unit 130 uses the parking position information input from the parking position information management unit 120 and the vehicle position information input from the vehicle position estimation unit 140 to obtain a parking route from the current position to the parking position. calculate.

When the parking route is successfully calculated, the route calculation unit 130 outputs the calculated route information to the parking position information management unit 120.

When the calculation of the parking route fails, the route calculation unit 130 outputs information indicating that the route generation has failed to the parking position information management unit 120.

When the route information is input from the route generation unit 130 for one or more of the parking candidate positions held in the parking position information holding unit 121, the parking position information management unit 120 obtains the corresponding parking position information and the route information. , Is output to the HMI 500 as information on alternative parking position candidates.

Further, when the parking position information management unit 120 inputs information indicating that the route information has failed from the route generation unit 130 for all the parking candidate positions held in the parking position information holding unit 121, it is a substitute. Information indicating that there is no parking position candidate is output to the HMI 500.

When the parking position information management unit 120 inputs alternative parking position candidate information, the HMI 500 generates a display parking frame line and a display route line from the parking position information and the route information, and moves outside the vehicle. It is superimposed on the captured image and displayed on the display unit 502.

Further, the HMI 500 displays a message on the display unit 502 for the driver to select either to change the target parking position and continue the automatic parking or to stop the automatic parking, and waits for the input from the driver. ..

When there are a plurality of alternative parking position candidates input from the parking position information management unit 120, the HMI 500 may, for example, change the color of the display frame line and the display route line according to the length of the parking route. The display method may be changed according to a predetermined standard such as changing the brightness.
It is expected that this will allow the driver to easily determine an alternative target parking position.

FIG. 2 shows an example of an alternative parking position candidate display screen in the display unit 502.
In the center of the screen, three alternative parking position candidates are superimposed and displayed on the bird's-eye view image synthesized from the image of the surroundings of the vehicle, of which the parking position candidate closest to the own vehicle is displayed. It is displayed in a different color to attract the driver's attention.

At the top of the screen, the message "If you want to continue, select the parking position and press" Continue "" and "If you want to cancel, press" Stop "" is displayed, prompting the driver to perform the next operation.

At the bottom of the screen, "Continue" and "Cancel" buttons are displayed, and the driver can select one of these to continue automatic parking after changing the target parking position, or automatic parking. Instruct to cancel.

On the other hand, when information indicating that there is no alternative parking position candidate is input from the parking position information management unit 120, the HMI 500 displays a message on the display unit 502 that there is no alternative parking position candidate. ..

Further, the HMI 500 displays a message on the display unit 502 for the driver to select either to newly search for an alternative parking position and perform automatic parking or to cancel the automatic parking, and the driver displays a message. Wait for input.

When the driver instructs the automatic parking continuation after changing the target parking position via the operation unit 501, the HMI 500 outputs the target parking position selected by the driver to the parking position information management unit 120. .. Subsequent operations are the same as when the driver gives an instruction to start automatic parking.

On the other hand, when the driver instructs the stop of the automatic parking via the operation unit 501, the HMI 500 outputs the automatic parking stop instruction to the state transition control unit 170.

When the automatic parking stop instruction is input from the HMI 500, the state transition control unit 170 outputs the route information output stop instruction to the route calculation unit 130.

When the route information output stop instruction is input from the state transition control unit 170, the route calculation unit 130 stops the output of the route information to the acceleration / deceleration control unit 150 and the steering control unit 160, and discards the target route information. ..

According to the first embodiment of the present invention, when the driver steps on the brake pedal and the vehicle stops during automatic parking, the parking operation up to that point is continued to approach the original target parking position. Instead, it presents a new target parking position candidate, which can give the driver a sense of security.

Further, when presenting the above-mentioned target parking position candidate, the information held by the parking support device is read out and the parking route is calculated in advance, so that the parking operation can be restarted quickly, which is convenient for the driver. Improves sex.

It should be noted that the driver's intention to decelerate or stop the vehicle is assumed to be when an obstacle is found, when a parking frame for a specific vehicle (for example, for a small car only) is found, or when the driver's taste is used. Will be done.

Next, a second embodiment of the present invention will be described.
The system configuration of this embodiment is as shown in FIG. 1, and is the same as or similar to that of the first embodiment, but the HMI 500 is provided with means for the driver to instruct the driver to change the target parking position during automatic parking. The added point is different from the first embodiment.

FIG. 3 shows an example of the display screen of the display unit 502 during automatic parking execution.
In the center of the screen, the target parking position and the parking route are superimposed and displayed on the bird's-eye view image synthesized from the image of the surroundings of the vehicle.

At the bottom of the screen, a "change parking position" button is displayed, and by selecting this, the driver instructs to change the target parking position during automatic parking.

In the present embodiment, when the driver instructs the change of the target parking position via the operation unit 501 while the automatic parking is being executed, the state transition control unit 170 notifies the parking position information management unit 120. Then, the reading of the held parking candidate position is instructed.

The operations other than the above are the same as those in the first embodiment.

According to this embodiment, after approaching the initial target parking position by automatic parking, the driver finds that the target parking position or the surrounding environment does not suit the driver's intention. When it is desired to change the target parking position during the parking operation, it is possible to quickly change to an alternative target parking position, which is expected to improve the convenience of the driver.

Next, a third embodiment of the present invention will be described.
The system configuration of this embodiment is as shown in FIG. 1, and is the same as or similar to that of the first embodiment, but the outside world recognition unit 110 and the parking position information management unit 120 are asked to park position candidates during automatic parking. It is different from the first embodiment in that a function of searching for and holding the obtained parking position candidate is added.

In this embodiment, the outside world recognition unit 110 continues to search for a parkable space even after the driver gives an instruction to start automatic parking via the operation unit 501.

As a result, when it is determined that the parkingable space exists, the outside world recognition unit 110 outputs the position information to the parking position information management unit 120.

The operation of the third embodiment of the present invention other than the above is the same as that of the first embodiment.

According to this embodiment, an alternative target parking position is searched for even during automatic parking.

Therefore, if the driver feels danger and steps on the brake to stop the vehicle during automatic parking, or if the driver wants to change the target parking position, an alternative target parking position is given to the driver. Can be presented more, increasing the possibility that the driver can select a more convenient target parking position.

Next, a fourth embodiment of the present invention will be described.
The system configuration of this embodiment is as shown in FIG. 1, and is the same as or similar to that of the first embodiment, but is set at that time when the driver decelerates or stops the vehicle to the outside world recognition unit 110. A function to monitor obstacles on the route to the target parking position has been added, and an operation when it is determined that the obstacle does not exist has been added to the HMI 500 and the state transition control unit 170. The point is different from the first embodiment.

In the present embodiment, when the driver decelerates or stops the own vehicle, the outside world recognition unit 110 performs the route to the target parking position set at that time in parallel with the operation of the first embodiment. Periodically search for the above obstacles.

As a result, when it is determined that there is no obstacle, the outside world recognition unit 110 outputs information indicating that there is no obstacle to the HMI 500.

When the HMI 500 receives information indicating that there is no obstacle from the outside world recognition unit 110, the HMI 500 sends a message to the display unit 502 that there is no obstacle on the currently set route to the target parking position. indicate.

In addition, the HMI 500 allows the driver to select either to continue automatic parking at the currently set target parking position, to change the target parking position to continue automatic parking, or to stop automatic parking. A message to be made is displayed on the display unit 502 and awaits input from the driver.

FIG. 4 shows an example of an alternative parking position candidate display screen.

In the center of the screen, an alternative parking position candidate is superimposed and displayed on a bird's-eye view image synthesized from an image taken around the vehicle.

At the top of the screen, the message "If you do not want to change the parking position, press" Continue "" or "If you want to change the parking position, select the parking position and press" Continue "" is displayed to the driver. Prompt for the next operation.

At the bottom of the screen, "Continue" and "Cancel" buttons are displayed.

If the driver selects "Continue" without selecting a parking position candidate, it will be an instruction to continue automatic parking to the currently set target parking position, and after selecting a parking position candidate, select "Continue". If so, it will be an instruction to continue automatic parking after changing the target parking position.

If the driver selects "Cancel", the driver will be instructed to cancel the automatic parking.

When the driver instructs the continuation of automatic parking to the currently set target parking position via the operation unit 501, the HMI 500 outputs an automatic parking restart instruction to the state transition control unit 170.

When the automatic parking restart instruction is input from the HMI 500, the state transition control unit 170 outputs the route information output restart instruction to the route calculation unit 130.

When the route information output restart instruction is input from the state transition control unit 170, the route calculation unit 130 restarts the output of the route information to the acceleration / deceleration control unit 150 and the steering control unit 160.

The operation of this embodiment other than the above is the same as that of the first embodiment.

According to this embodiment, when there is no obstacle on the route to the initial target parking position, automatic parking at the initial target parking position is restarted.

For this reason, the initial target is when the driver feels danger and steps on the brake to stop the vehicle during automatic parking, and then the obstacle is removed or the vehicle moves and disappears from the route. Automatic parking can be continued without changing the parking position, improving convenience.

From each of the examples described above, a feasible configuration can be expressed as follows.
The target parking position is determined from the outside world recognition unit that recognizes the outside of the vehicle, the parking position information holding unit that holds the information of the plurality of parking candidate positions recognized by the outside world recognition unit, and the plurality of parking candidate positions. It has a parking position determination unit and a route calculation unit that calculates a parking route from the current position of the vehicle to the target parking position, and the route calculation unit autonomously causes the vehicle to the first target parking position. A new parking route is calculated from the current position for each of the plurality of parking candidate positions, triggered by the fact that a state that meets a predetermined condition is reached in the middle of traveling.

In addition, it has a display operation unit that displays information to the driver and receives input from the driver, and the display operation unit sets a parking space as the target parking position when the new parking route is calculated. Whether or not to start parking at a second target parking position different from the first target parking position, which is selected from the candidates for the target parking position, is displayed as a candidate for the driver. To confirm.

Further, the display operation unit has a photographing device for photographing an image of the outside of the vehicle, and the display operation unit superimposes and displays the candidate of the target parking position and the new parking route on the image captured by the photographing device. ..

Further, when there are a plurality of candidates for the target parking position, the display operation unit changes the display of each candidate for the target parking position according to the length of the new parking route.

Further, the parking candidate position held by the parking position information holding unit is recognized as a parking space by the outside world recognition unit and is not selected as the first target parking position.

Further, the parking candidate position held by the parking position information holding unit is recognized as a parkingable space by the outside world recognition unit after autonomous traveling to the first target parking position is started.

Further, the predetermined condition is the stop or deceleration of the vehicle by the operation of the driver.

Further, when the vehicle is stopped or decelerated by the operation of the driver, the outside world recognition unit performs an obstacle on the route to the first target parking position in parallel with the calculation of the new parking route. After searching for an object and recognizing that the obstacle does not exist, autonomous driving to the first target parking position is resumed.

Further, the driver's operation is an operation of stepping on the brake pedal.

Further, the driver's operation is an operation of operating the parking brake.

Further, the operation of the driver is an operation of the transmission.

Further, the driver's operation is a stop operation through the display operation unit.

Further, the predetermined condition is a change of the target parking position by the operation of the display operation unit of the driver.

Further, the predetermined condition is a determination by the outside world recognition unit that parking at the first target parking position is impossible.

100 Parking control unit 110 External world recognition unit 120 Parking position information management unit 130 Route calculation unit 140 Own vehicle position estimation unit 150 Acceleration / deceleration control unit 160 Steering control unit 170 State transition control unit 200 External world sensor 300 Vehicle sensor 301 Brake sensor 302 Wheel speed Sensor 303 Steering angle sensor 400 In-vehicle network 401 In-vehicle network 500 HMI (display operation unit)
501 HMI operation unit 502 HMI display unit 503 HMI speaker

Claims (14)

The outside world recognition unit that recognizes the outside of the vehicle,
A parking position information holding unit that holds information on a plurality of parking candidate positions recognized by the outside world recognition unit, and a parking position information holding unit.
A parking position determination unit that determines a target parking position from a plurality of the parking candidate positions,
A route calculation unit that calculates a parking route from the current position of the vehicle to the target parking position,
It has a display operation unit that displays information to the driver and accepts input from the driver.
A plurality of the route calculation units are triggered by the vehicle reaching a state of meeting a predetermined condition during autonomous driving to the first target parking position input from the driver to the display operation unit. For each of the parking candidate positions, a new parking route is calculated from the current position .
When the calculation of the parking route fails for all of the parking candidate positions, the display operation unit displays information indicating that there is no alternative parking position candidate . The display operation unit is
When the new parking route is calculated, the parkable space is displayed as a candidate for the target parking position.
It is characterized in that it confirms to the driver whether or not to start parking at a second target parking position different from the first target parking position, which is selected from the candidates for the target parking position. The parking support device according to claim 1. It has a photographing device that captures an image of the outside of the vehicle.
The parking support device according to claim 2, wherein the display operation unit superimposes and displays the candidate for the target parking position and the new parking route on the image captured by the photographing device. The display operation unit is characterized in that, when there are a plurality of candidates for the target parking position, the display of each candidate for the target parking position is changed according to the length of the new parking route. The parking support device according to 2 or 3. The parking candidate position held by the parking position information holding unit is characterized in that the outside world recognition unit recognizes the parking space and is not selected as the first target parking position. The parking support device according to claim 1 or 2. The parking candidate position held by the parking position information holding unit is characterized in that the parking candidate position is recognized as a parkingable space by the outside world recognition unit after autonomous traveling to the first target parking position is started. The parking support device according to claim 1 or 2. The parking support device according to claim 1, wherein the predetermined condition is stopping or decelerating the vehicle by the operation of the driver. When the vehicle is stopped or decelerated by the driver's operation, the outside world recognition unit detects an obstacle on the route to the first target parking position in parallel with the calculation of the new parking route. The parking support device according to claim 7, further comprising searching and recognizing that the obstacle does not exist, and then resuming autonomous driving to the first target parking position. The parking support device according to claim 7, wherein the driver's operation is an operation of stepping on a brake pedal. The parking support device according to claim 7, wherein the driver's operation is an operation of operating a parking brake. The parking support device according to claim 7, wherein the driver's operation is an operation of a transmission. The parking support device according to claim 7, wherein the driver's operation is a stop operation through the display operation unit. The parking support device according to claim 1 or 2, wherein the predetermined condition is a change of the target parking position by the operation of the display operation unit of the driver. The parking support device according to claim 1 or 2, wherein the predetermined condition is a determination by the outside world recognition unit that parking at the first target parking position is impossible.

Images