JP6906320B2 - Parking support device and parking support control device - Google Patents

Description

The present invention, parking assisting equipment, and relates to a parking assist control device for controlling the parking assist operation in the parking assist apparatus by being included in such a parking assist apparatus.

As a device for supporting the parking of the own vehicle in the parking space, for example, the parking support device described in Patent Document 1 is known. The parking support device described in Patent Document 1 determines a temporary parking position (that is, a temporary target parking position) using a distance measuring sensor such as an ultrasonic sensor, and determines a parking route for reaching the temporary parking position. , The parking support process is executed along the determined parking route. In the case of parallel parking, the temporary parking position is determined so that, for example, the front end of the own vehicle coincides with the aisle-side end surface of the adjacent parked vehicle.

Japanese Unexamined Patent Publication No. 2014-76696

There is still room for improvement in the accuracy of the target parking position for this type of device. The present invention has been made in view of the circumstances exemplified above.

The parking support device (100) according to claim 1 is mounted on an own vehicle (VM) which is an ordinary vehicle, so that the own vehicle can be placed in a parking space (PS) adjacent to the parked vehicle (PV1, PV2). It is configured to support parallel parking.
This parking support device
An imaging unit (121-124) that acquires image information corresponding to an image of the surroundings of the own vehicle, and
A type determination unit (161) that determines the vehicle type of the parked vehicle based on the image recognition result of the license plate in the parked vehicle acquired based on the image information.
Target parking of the own vehicle in the parking space based on the vehicle type determined by the type determination unit and the front end position of the parked vehicle acquired by using the front end position acquisition means (111, 113). The target position setting unit (162) that sets the position (TP),
With
The type determination unit determines whether or not the vehicle type of the parked vehicle is a light vehicle as a short type having a shorter vehicle overall length than the own vehicle.
The parking support control device (160) according to claim 6 is mounted on the own vehicle (VM), which is an ordinary vehicle, so that the own vehicle can be placed in a parking space (PS) adjacent to the parked vehicle (PV1, PV2). It is a device provided in a parking support device (100) configured to support parallel parking, and controls a parking support operation in the parking support device.
Based on the image recognition result of the license plate in the parked vehicle, which is acquired based on the image information corresponding to the image around the own vehicle acquired by using the imaging unit (121-124), the parked vehicle The type determination unit (161) that determines the vehicle type, and
Target parking of the own vehicle in the parking space based on the vehicle type determined by the type determination unit and the front end position of the parked vehicle acquired by using the front end position acquisition means (111, 113). The target position setting unit (162) that sets the position (TP),
With
The type determination unit determines whether or not the vehicle type of the parked vehicle is a light vehicle as a short type having a shorter vehicle overall length than the own vehicle.

This parking support device
A type determination unit (161) that determines the vehicle type of the parked vehicle based on the recognition result regarding the outer shape or appearance of the parked vehicle.
A target position setting unit (162) that sets a target parking position (TP) of the own vehicle in the parking space based on the vehicle type determined by the type determination unit.
It has.

The reference numerals in parentheses attached to each means in the above and claims column indicate an example of the correspondence between the means and the specific means described in the embodiments described later.

It is a block diagram which shows the schematic functional structure of the parking support device which concerns on embodiment. It is the schematic which shows the mode that the own vehicle equipped with the parking support device shown in FIG. 1 parks in parallel. It is the schematic which shows the state that the own vehicle equipped with the parking support device shown in FIG. 1 parallel parks. It is a flowchart which shows the operation example of the parking assist device shown in FIG. It is a flowchart which shows the operation example of the parking assist device shown in FIG. It is a flowchart which shows the operation example of the parking assist device shown in FIG. It is a flowchart which shows the operation example of the parking assist device shown in FIG. It is a flowchart which shows one modification of the operation example of the parking assist device shown in FIG. It is a flowchart which shows one modification of the operation example of the parking assist device shown in FIG. It is a flowchart which shows one modification of the target parking position setting process shown in FIG. It is a flowchart which shows the other modification of the target parking position setting process shown in FIG. It is a flowchart which shows the further modification of the target parking position setting process shown in FIG. It is a schematic diagram which shows the display example of the target parking position candidate in the image display device shown in FIG. It is a schematic diagram which shows the display example of the target parking position candidate in the image display device shown in FIG. It is a flowchart which shows the other modification of the operation example of the parking assist device shown in FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, various changes applicable to the embodiment will be described collectively as a modification after the description of the series of embodiments.

(Constitution)
First, the configuration of the parking support device 100 according to the present embodiment will be described with reference to FIGS. 1, 2A and 2B. The own vehicle VM means a vehicle equipped with the parking support device 100 according to the present embodiment.

Hereinafter, for the sake of simplification of the explanation, the direction in which the vehicle can travel by self-propelling at a driving shift position other than reverse (that is, reverse) is referred to as "vehicle traveling direction", and the vehicle traveling direction side is referred to as "front side". Alternatively, it is referred to as "front" and the opposite side is referred to as "rear" or "rear". Further, in the same coordinate system when the X-axis positive direction in the right-handed XYZ coordinate system and the vehicle traveling direction of the own vehicle VM are matched and the Z-axis positive direction in the same coordinate system is set in the direction opposite to the gravity action direction. The positive side of the Y-axis is referred to as "left side" or "left side", and the opposite side is referred to as "right side" or "right side". The front-back and left-right direction concepts in FIGS. 2A and 2B are mainly expressed with reference to the own vehicle VM.

The parking support device 100 according to the present embodiment is configured to support parking of the own vehicle VM in the parking space PS adjacent to the parked vehicle PV by being mounted on the own vehicle VM. Specifically, the parking support device 100 includes an FL range-finding sensor 111, an FR range-finding sensor 112, an RL range-finding sensor 113, an RR range-finding sensor 114, a front camera 121, a rear camera 122, and a left side. The direction camera 123, the right camera 124, the vehicle speed sensor 131, the steering angle sensor 132, the shift position sensor 133, the image display device 141, the audio output device 142, the input device 143, the torque control ECU 151, and so on. It includes a braking control ECU 152 and a parking support ECU 160. The ECU is an abbreviation for Electronic Control Unit.

The FL distance measurement sensor 111, the FR distance measurement sensor 112, the RL distance measurement sensor 113, and the RR distance measurement sensor 114 as distance measurement sensors transmit exploration waves (for example, ultrasonic waves) toward the outside of the own vehicle VM. At the same time, it is provided so as to receive the received wave caused by the reflection of the exploration wave by the object existing outside the own vehicle VM. The received wave has an intensity corresponding to the distance between the own vehicle VM and the object.

The FL ranging sensor 111 is mounted on the left front portion on the side surface of the own vehicle VM so as to transmit the exploration wave to the left side of the own vehicle VM along the vehicle width direction of the own vehicle VM. The FR ranging sensor 112 is mounted on the right front portion on the side surface of the own vehicle VM so as to transmit the exploration wave to the right side of the own vehicle VM along the vehicle width direction of the own vehicle VM. The RL ranging sensor 113 is mounted on the left rear portion on the side surface of the own vehicle VM so as to transmit the exploration wave to the left side of the own vehicle VM along the vehicle width direction of the own vehicle VM. The RR ranging sensor 114 is mounted on the right rear portion on the side surface of the own vehicle VM so as to transmit the exploration wave to the right side of the own vehicle VM along the vehicle width direction of the own vehicle VM.

The front camera 121, the rear camera 122, the left camera 123, and the right camera 124 as the imaging unit are digital camera devices equipped with an image sensor such as a CCD, and correspond to an image around the own vehicle VM. It is provided to acquire image information.

The front camera 121 is mounted on the front surface of the own vehicle VM so as to acquire image information corresponding to the image in front of the own vehicle VM. The rear camera 122 is mounted on the rear surface portion of the own vehicle VM so as to acquire image information corresponding to the image behind the own vehicle VM. The left camera 123 is attached to the left door mirror of the own vehicle VM so as to acquire image information corresponding to the left image of the own vehicle VM. The right camera 124 is attached to the right door mirror of the own vehicle VM so as to acquire image information corresponding to the image on the right side of the own vehicle VM.

The vehicle speed sensor 131 is provided so as to generate a signal corresponding to the traveling speed of the own vehicle VM and transmit it to the parking support ECU 160. The steering angle sensor 132 is provided so as to generate a signal corresponding to the steering angle of the own vehicle VM and transmit it to the parking support ECU 160. The shift position sensor 133 is provided so as to generate a signal corresponding to the shift position of the own vehicle VM and transmit it to the parking support ECU 160. Since the configurations of the vehicle speed sensor 131, the steering angle sensor 132, and the shift position sensor 133 are already well known, further details thereof will be omitted in the present specification.

The image display device 141, the audio output device 142, and the input device 143 are arranged in the vehicle interior of the own vehicle VM. The image display device 141 is a liquid crystal display panel, and is provided so as to display an image accompanying a parking support operation under the control of the parking support ECU 160. The voice output device 142 is a speaker device, and is provided so as to output voice accompanying a parking support operation under the control of the parking support ECU 160. The input device 143 includes at least one of a touch panel superimposed on the image display device 141, an operation switch arranged around the image display device 141, a voice microphone arranged near the driver's seat, and the like. It is provided to accept user input accompanying the parking support operation.

The torque control ECU 151 is provided so as to control the engine output in the own vehicle VM during the parking support operation by controlling the operation of an injector or the like (not shown) based on the signal received from the parking support ECU 160. The braking control ECU 152 is provided so as to control the braking force in the own vehicle VM during the parking support operation by driving a brake actuator or the like (not shown) based on a signal received from the parking support ECU 160.

The parking support ECU 160 is electrically connected to each of the above parts. That is, the parking support ECU 160 includes the FL distance measurement sensor 111, the FR distance measurement sensor 112, the RL distance measurement sensor 113, the RR distance measurement sensor 114, the front camera 121, the rear camera 122, the left camera 123, the right camera 124, and the vehicle speed. Based on the signals and information received from the sensor 131, steering angle sensor 132, shift position sensor 133, etc., signals and information for parking support operation are generated, and the generated signals and information are output to the image display device 141 and the audio output device. It is configured to execute the parking support operation by transmitting to 142, the torque control ECU 151, the braking control ECU 152, and the parking support ECU 160.

The parking support ECU 160 is a so-called in-vehicle microcomputer, and includes a CPU, ROM, RAM, non-volatile RAM, input / output interface, and the like (not shown). The non-volatile RAM is, for example, a flash ROM or the like. The parking support ECU 160 is configured so that various control operations can be realized by the CPU reading a program from the ROM or the non-volatile RAM and executing the program. This program includes the corresponding ones for each routine described below. Further, various data used when executing the program are stored in advance in the ROM or the non-volatile RAM. Various data include, for example, initial values, look-up tables, maps, vehicle standard values, vehicle specifications of own vehicle VM, and the like.

The parking support ECU 160 has a type determination unit 161, a target position setting unit 162, and a target position correction unit 163 as internal functions. The type determination unit 161 determines the vehicle type of the parked vehicle PV based on the recognition result regarding the outer shape or the appearance of the parked vehicle PV. The target position setting unit 162 sets the target parking position TP of the own vehicle VM in the parking space PS based on the vehicle type determined by the type determination unit 161. The target position correction unit 163 determines the target parking position TP during the approach of the own vehicle VM into the parking space PS based on the recognition result regarding the outer shape or the appearance of the parked vehicle PV while the own vehicle VM is entering the parking space PS. Is to be corrected.

The parking support ECU 160 is configured to be able to three-dimensionally recognize the characteristic shape of an object or the like existing outside the own vehicle VM by the so-called SFM technology. SFM is an abbreviation for Structure From Motion. The SFM technology is already well known at the time of filing of the present application. See, for example, Japanese Patent No. 5012615, Japanese Patent No. 5714940, and the like. Therefore, detailed description of SFM technology or SFM processing is omitted herein.

(Outline of operation)
Hereinafter, an outline of the operation of the parking support device 100, that is, the parking support ECU 160 according to the present embodiment will be described with reference to FIGS. 1, 2A and 2B.

FIG. 2A shows the case of parallel parking, and FIG. 2B shows the case of parallel parking. The parallel parking is a parking mode in which the own vehicle VM is parked so that the parked vehicle PV and the own vehicle VM are arranged along the vehicle width direction in the own vehicle VM. For the sake of brevity, in this operation outline description, in parallel parking, as shown in FIG. 2A, the arrangement direction of the parked vehicle PV and the parking space PS in the parking zone PZ, and the parking vehicle PV and the parking space It is assumed that the parking mode in which the total length direction of the vehicle in PS is substantially orthogonal to each other. On the other hand, parallel parking is a parking mode in which the own vehicle VM is parked so that the parked vehicle PV and the own vehicle VM are arranged along the vehicle length direction in the own vehicle VM.

For the sake of brevity, in this operation outline description, as shown in FIGS. 2A and 2B, the own vehicle VM is traveling on the vehicle passage VP (for example, a general road) on the left side of the own vehicle VM. A case where the parking space PS is detected in the parking zone PZ adjacent to the vehicle passage VP and parallel parking or parallel parking in the parking space PS will be described. Further, in this description of the operation outline, a case where the parking space PS is provided between the first parked vehicle PV1 and the second parked vehicle PV2 for one vehicle will be described. The first parked vehicle PV1 is a vehicle parked behind the parking space PS. The second parking vehicle PV2 is a vehicle parked in front of the parking space PS. Even when the first parked vehicle PV1 or the second parked vehicle PV2 does not exist, supplementary explanations are appropriately given in the following description of the operation example.

In the case of parallel parking shown in FIG. 2A, the own vehicle VM is usually parked in the parking space PS by so-called backward parking. Similarly, the parked vehicle PV is usually parked by reverse parking. Therefore, for the sake of brevity, the ends and end faces of the parked vehicle PV (that is, including the first parked vehicle PV1 and the second parked vehicle PV2) on the side close to the own vehicle VM are referred to as "front end" and "front end face". ". On the other hand, in the parked vehicle PV, the ends and end faces on the side farthest from the own vehicle VM are referred to as "rear end" and "rear end face". In addition, some parked vehicle PV may be parked by forward parking. However, in this case, the rear end and the rear end face of the parked vehicle PV are the end and the end face on the side close to the own vehicle VM in the parking support operation of the own vehicle VM. There is no inconvenience even if it is treated as "front end face".

The definitions of "front end" and "rear end" in the parked vehicle PV as described above also apply to the parking space PS. That is, the side of the parking space PS having a rectangular shape in a plan view on the side close to the own vehicle VM is referred to as the "front end" of the parking space PS. Similarly, the side of the parking space PS on the side close to the own vehicle VM is referred to as the "rear end" of the parking space PS.

Further, in this operation outline explanation, the following conditions are set. The vehicle type of the own vehicle VM is an ordinary vehicle under the Road Traffic Act, and the vehicle length is about 4000 to 5300 mm and the vehicle width is about 1650 to 1950 mm. Further, the parking space PS is assumed to have a size (for example, about 5500 mm × 2600 mm) for two types of vehicles, that is, a normal vehicle and a light vehicle of the above size. That is, in this description of the outline of operation, the parking space PS does not include medium-sized vehicles and large-sized vehicles under the Road Traffic Act, such as so-called small freight vehicles, large freight vehicles, and buses. However, as will be described later, the present invention is not limited to the above conditions. That is, the above conditions are merely for convenience to briefly explain a specific example of the present invention.

In this description of the outline of operation, the parking support device 100 uses the FL distance measuring sensor 111 and the RL distance measuring sensor 113 mounted on the left side surface of the own vehicle VM by a known or well-known method, and the front end surface of the parked vehicle PV. And the parking space PS in which the parked vehicle PV does not exist. Further, the parking support device 100 uses the FL distance measuring sensor 111, the RL distance measuring sensor 113, the front camera 121, the rear camera 122, and the left camera 123 by a known or well-known method to obtain the outer shape of the parked vehicle PV or the outer shape of the parked vehicle PV. Recognize the appearance.

The "outer shape" includes the vehicle overall length, vehicle width, tires, front and rear wheel positions, license plate position, etc. of the parked vehicle PV. "Appearance" includes license plate color, license plate letters, tire steering angle, and the like. That is, the recognition result regarding the outer shape or appearance of the parked vehicle PV was acquired by the received wave in the FL distance measuring sensor 111 and the RL distance measuring sensor 113 and / or by the front camera 121, the rear camera 122, and the left camera 123. Obtained based on image information.

The parking support device 100 (that is, the type determination unit 161) determines the vehicle type of the parked vehicle PV based on the recognition result regarding the outer shape or the appearance of the parked vehicle PV. That is, for example, the recognition result is the image recognition result of the license plate in the parked vehicle PV. Alternatively, for example, the recognition result is an image recognition result of a tire in a parked vehicle PV. Alternatively, for example, the recognition result is the vehicle overall length, vehicle width, tire position, front-rear wheel spacing, etc. in the parked vehicle PV acquired based on the received wave or image information.

Specifically, for example, when the character color or the color around the characters on the license plate is yellow, it is determined that the parked vehicle PV is a light vehicle. Alternatively, when the vehicle width is less than a predetermined value and the license plate position is offset from the center position in the vehicle width direction, it is determined that the parked vehicle PV is a light vehicle. Alternatively, when the distance between the front and rear wheels is less than a predetermined value, it is determined that the parked vehicle PV is a light vehicle.

The parking support device 100 (that is, the target position setting unit 162) has a parking space between the first parked vehicle PV1 and the second parked vehicle PV2 based on the determined vehicle types of the first parked vehicle PV1 and the second parked vehicle PV2. Set the target parking position TP of the own vehicle VM in the PS. The parking support device 100 calculates the guidance route of the own vehicle VM to the set target parking position TP by a known or well-known method.

The parking support device 100 executes guidance processing to the target parking position TP of the own vehicle VM based on the set target parking position TP and the calculated guidance route. As a result, the entry of the own vehicle VM into the parking space PS starts. At this time, for example, when the parking support ECU 160 determines that it is necessary to increase or decrease the engine output torque of the own vehicle VM, the parking support ECU 160 outputs a torque control command to the torque control ECU 151. On the other hand, when the parking support ECU 160 determines that it is necessary to decelerate or stop the own vehicle VM, the parking support ECU 160 outputs a brake control command to the braking control ECU 152.

By the way, there are various conditions around the own vehicle VM when the parking support process is executed. For example, when the surroundings of the own vehicle VM are dark at night, or when a large amount of mud or snow adheres to the parked vehicle PV around the own vehicle VM, it is difficult to recognize the license plate of the parked vehicle PV. It may become. Alternatively, even if it is determined by normal license plate recognition that the parked vehicle PV is not a light vehicle, the actual body size of the parked vehicle PV, which is an ordinary vehicle, may be the same as that of a light vehicle.

In the above case, the target parking position TP based on the determined vehicle type may not be appropriate. Therefore, the parking support device 100 (that is, the target position correction unit 163) is based on the recognition result regarding the outer shape or appearance of the first parked vehicle PV1 and the second parked vehicle PV2 while the own vehicle VM is entering the parking space PS. , Correct the target parking position TP while the own vehicle VM is entering the parking space PS.

(Operation example)
Hereinafter, a specific operation example according to the configuration of the present embodiment (this may be referred to as a “specific example”) and an effect produced by the configuration of the present embodiment will be described with reference to a flowchart. In the following description in the drawings and the specification, "step" is simply abbreviated as "S". Further, in the following description of the flowchart, the CPU, ROM, RAM and non-volatile RAM of the parking support ECU 160 are simply abbreviated as "CPU", "ROM", "RAM" and "non-volatile RAM", respectively.

When a predetermined start trigger is detected, the CPU reads a program corresponding to the parking support processing routine shown in FIG. 3 from the ROM or the non-volatile RAM and starts the program. The start trigger is, for example, an input operation in the input device 143 that turns on a parking support start switch (not shown).

When this routine is activated, first, in S301, the CPU detects the parking space PS, which is a space in which the own vehicle VM can park, in the parking zone PZ. Since the parking space PS detection process in S301 is well known or publicly known (see, for example, Patent Document 1), detailed description thereof will be omitted. After the processing of S301, the CPU advances the processing to S302.

In S302, the CPU determines whether or not the parking space PS has been detected. When the parking space PS is detected (that is, S302 = YES), the CPU advances the process to S303. On the other hand, when the parking space PS is not detected (that is, S302 = NO), the CPU returns the process to S301. That is, the CPU repeatedly executes the process of S301 until the parking space PS is detected.

In S303, the CPU determines whether the parking of the own vehicle VM in the parking space PS detected this time is parallel parking or parallel parking. This parking mode determination can be performed, for example, based on the result of an input operation in the input device 143. Alternatively, the parking mode determination is performed, for example, by the FL distance measuring sensor 111, the FR distance measuring sensor 112, the RL distance measuring sensor 113, the RR distance measuring sensor 114, the front camera 121, the rear camera 122, the left camera 123, and the right camera. Based on the recognition result using 124, it can be automatically determined by the CPU.

Specifically, for example, as described in Japanese Patent Application Laid-Open No. 2007-290433, Japanese Patent No. 5126609, etc., the parking mode can be automatically determined based on the image recognition result. Alternatively, for example, when the length of the end face of the parked vehicle PV on the side close to the own vehicle VM detected by using a distance measuring sensor such as the FL distance measuring sensor 111 is less than a predetermined value, the parking this time is performed. It can be determined that the parking is in parallel.

When the parking this time is parallel parking (that is, S303 = YES), the CPU advances the process to S304. On the other hand, when the parking this time is parallel parking (that is, S303 = NO), the CPU advances the process to S305. In S304, the CPU executes the target parking position setting process for parallel parking. On the other hand, in S305, the CPU executes the target parking position setting process for parallel parking. These target parking position setting processes will be described later.

After executing the process of S304 or S305 according to the determination result in S303, the CPU executes the route calculation process in S306. The route calculation process is a process of calculating the guidance route of the own vehicle VM to the target parking position TP set in S304 or S305. Since this process is well known or publicly known (see, for example, Patent Document 1), detailed description thereof will be omitted. Further, in S306, the CPU stores the calculated guidance path in the RAM or the non-volatile RAM.

After the processing of S306, the CPU advances the processing to S307. In S307, the CPU executes the guidance process to the target parking position TP of the own vehicle VM based on the set target parking position TP and the calculated guidance route. When the process of S307 is completed, the CPU ends a series of processes of this routine.

The flowchart shown in FIG. 4 shows an example of the target parking position setting process for parallel parking corresponding to S304 in the flowchart of FIG. In this target parking position setting process, the CPU first extracts the license plate images of the first parked vehicle PV1 and the second parked vehicle PV2 in S401. Next, the CPU determines in S402 whether or not one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle based on the license plate image extracted. That is, the process of S402 corresponds to the process of determining whether or not the vehicle type of the first parked vehicle PV1 and the second parked vehicle PV2 is a short type which is a vehicle type having a shorter vehicle overall length than the own vehicle VM. do.

When neither the first parked vehicle PV1 nor the second parked vehicle PV2 is a light vehicle (that is, S402 = NO), the CPU finishes the target parking position setting process after executing the processes of S403 and S404. Specifically, in S403, the CPU acquires the front end position (that is, the end position on the vehicle passage VP side) of the parked vehicle PV adjacent to the parking space PS, which is an ordinary vehicle. The acquisition of the front end position is performed based on, for example, the received wave in the FL distance measuring sensor 111 or the RL distance measuring sensor 113.

In the parallel parking shown in FIG. 2A, if both the first parked vehicle PV1 and the second parked vehicle PV2 are ordinary vehicles, or for example, if one is an ordinary vehicle and the other does not exist, the parking space. The target parking position TP in the PS can be set with reference to the front end position of the parked vehicle PV adjacent to the parking space PS, which is an ordinary vehicle. Therefore, in S404, the CPU sets the target parking position TP so that the front end position of the target parking position TP matches the front end position acquired in S403. Further, in S404, the CPU stores the set target parking position TP in the RAM or the non-volatile RAM.

When either one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle (that is, S402 = YES), the CPU executes the process of S405. In S405, the CPU determines whether or not the parked vehicle PV adjacent to the parking space PS this time is only a light vehicle.

When the parked vehicle PV adjacent to the parking space PS is only a light vehicle (that is, S405 = YES), both the first parked vehicle PV1 and the second parked vehicle PV2 are light vehicles, or one is a light vehicle. There is a case where the other does not exist. In this case, if the front end position of the parked vehicle PV, which is a light vehicle, and the front end position of the target parking position TP are matched, the rear end of the target parking position TP may protrude from the parking space PS. Therefore, in this case, the CPU executes the processes of S406 to S408, sets the target parking position TP different from that of S403 and S404, and then ends the target parking position setting process.

Specifically, in S406, the CPU acquires the front end position of the parked vehicle PV, which is a light vehicle. Next, in S407, the CPU obtains the rear end position of the parked vehicle PV, which is a light vehicle, based on the front end position acquired in S406 and the standard information of the light vehicle stored in the ROM or the non-volatile RAM. presume. The rear end position estimated in S407 is hereinafter referred to as "estimated rear end position". Subsequently, in S408, the CPU sets the target parking position TP so that the estimated rear end position and the rear end position of the target parking position TP match. Further, in S408, the CPU stores the set target parking position TP in the RAM or the non-volatile RAM.

When one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle and the other is an ordinary vehicle (that is, S405 = NO), the parked vehicle which is an ordinary vehicle (for example, the second in the example of FIG. 2A). It is appropriate to set the target parking position TP with reference to the front end position of the parked vehicle PV2). Therefore, in this case, the CPU finishes the target parking position setting process after executing the processes of S403 and S404.

As described above, in the present specific example, in the case where the vehicle type of the parked vehicle PV adjacent to the parking space PS is a short type and parallel parking is performed, the target position setting unit 162 self in the vehicle length direction of the parked vehicle PV. The target parking position TP is set based on the position of the end near the vehicle VM in the vehicle total length direction and the vehicle total length standard value in the short type. As a result, the occurrence of problems such as the rear end of the target parking position TP protruding from the parking space PS can be satisfactorily suppressed. That is, according to this specific example, the setting accuracy of the target parking position TP is improved as compared with the conventional case.

Further, as shown in FIG. 2A, the parking space PS is the second parked vehicle PV2 which is an ordinary vehicle and the first parked vehicle PV1 which is a light vehicle whose overall length is shorter than that of the ordinary vehicle. It may be located in between. In this case, if the target parking position TP is set based on the end of the first parked vehicle PV1 which is a light vehicle and is close to the own vehicle VM, the rear end of the target parking position TP protrudes from the parking space PS, etc. Problems can occur. In this regard, in this specific example, the target position setting unit 162 is not at the first parked vehicle PV1 which is a light vehicle, but at the end of the second parked vehicle PV2 which is an ordinary vehicle and is close to the own vehicle VM. Based on this, the target parking position TP is set. Therefore, the occurrence of the above-mentioned defects can be satisfactorily suppressed. That is, according to this specific example, the setting accuracy of the target parking position TP is improved as compared with the conventional case.

The flowchart shown in FIG. 5 shows an example of the target parking position setting process for parallel parking corresponding to S305 in the flowchart of FIG. In this target parking position setting process, the CPU first extracts the front and rear wheel positions of the first parked vehicle PV1 and the second parked vehicle PV2 in S501. Next, the CPU determines in S502 whether or not one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle based on the extracted front and rear wheel positions. That is, the processing content of S502 is the same as the processing content of S402 except that the information on which the determination is based is different.

When neither the first parked vehicle PV1 nor the second parked vehicle PV2 is a light vehicle (that is, S502 = NO), the CPU executes the processes of S503 and S504, and then ends the target parking position setting process. Specifically, in S503, the CPU acquires the position of the front side surface (that is, the side surface on the vehicle passage VP side) of the parked vehicle PV adjacent to the parking space PS, which is an ordinary vehicle. The acquisition of the front side surface position is performed based on, for example, the received wave in the FL distance measuring sensor 111 or the RL distance measuring sensor 113.

In the column parking shown in FIG. 2B, if both the first parked vehicle PV1 and the second parked vehicle PV2 are ordinary cars, or for example, if one is an ordinary car and the other does not exist, the parking space. The target parking position TP in the PS can be set with reference to the front side side position of the parked vehicle PV adjacent to the parking space PS, which is an ordinary vehicle. Therefore, in S504, in S504, the position of the front end portion of the target parking position TP (that is, the side of the vehicle passage VP side in the target parking position TP shown in FIG. 2B) is the front side surface acquired in S503. The target parking position TP is set so as to match the position. Further, in S504, the CPU stores the set target parking position TP in the RAM or the non-volatile RAM.

When either one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle (that is, S502 = YES), the CPU executes the process of S505. In S505, the CPU determines whether or not the parked vehicle PV adjacent to the parking space PS this time is only a light vehicle. That is, the processing content of S505 is the same as the processing content of S405.

When the parking vehicle PV adjacent to the parking space PS is only a light vehicle (that is, S505 = YES), if the front side side position of the parked vehicle PV and the front end position of the target parking position TP are matched, the target There is a possibility that the rear end of the parking position TP protrudes to the back from the parking space PS and interferes with an obstacle B (for example, a side groove) on the back side of the parking zone PZ. Therefore, in this case, the CPU executes the processes of S506 to S508, sets the target parking position TP different from that of S503 and S504, and then ends the target parking position setting process.

Specifically, in S506, the CPU acquires the front side side position of the parked vehicle PV which is a light vehicle. Next, in S507, the CPU obtains the back side side position of the parked vehicle PV, which is a light vehicle, with the front side side position acquired in S506, and the standard information of the light vehicle stored in the ROM or the non-volatile RAM. Estimate based on. Subsequently, in S508, the CPU sets the target parking position TP so that the back side side position estimated in S507 and the position of the back end portion of the target parking position TP match. Further, in S508, the CPU stores the set target parking position TP in the RAM or the non-volatile RAM.

When one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle and the other is an ordinary vehicle (that is, S505 = NO), the parked vehicle which is an ordinary vehicle (for example, the second in the example of FIG. 2B). It is appropriate to set the target parking position TP with reference to the front side side position of the parked vehicle PV2). Therefore, in this case, the CPU finishes the target parking position setting process after executing the processes of S503 and S504.

As described above, in the present specific example, in the case where the vehicle type of the parked vehicle PV adjacent to the parking space PS is a short type and parallel parking, the target position setting unit 162 self in the vehicle width direction of the parked vehicle PV. The target parking position TP is set based on the position of the end near the vehicle VM in the vehicle width direction and the vehicle width standard value in the short type. As a result, the occurrence of problems such as the rear end of the target parking position TP protruding from the parking space PS can be satisfactorily suppressed. That is, according to this specific example, the setting accuracy of the target parking position TP is improved as compared with the conventional case.

Further, as shown in FIG. 2B, the parking space PS is the second parked vehicle PV2 which is an ordinary vehicle and the first parked vehicle PV1 which is a light vehicle whose overall length is shorter than that of the ordinary vehicle. It may be located in between. In this case, if the target parking position TP is set based on the end of the first parked vehicle PV1 which is a light vehicle and is close to the own vehicle VM, the back end of the target parking position TP is located from the parking space PS. Problems such as protrusion may occur. In this regard, in this specific example, the target position setting unit 162 is not at the first parked vehicle PV1 which is a light vehicle, but at the end of the second parked vehicle PV2 which is an ordinary vehicle and is close to the own vehicle VM. Based on this, the target parking position TP is set. Therefore, the occurrence of the above-mentioned defects can be satisfactorily suppressed. That is, according to this specific example, the setting accuracy of the target parking position TP is improved as compared with the conventional case.

The flowchart shown in FIG. 6 shows an example of the guidance process corresponding to S307 in the flowchart of FIG. In this guidance process, first, the CPU acquires the current target parking position TP set in S304 or S305 in S601 and the guidance path calculated in S306 by reading from the RAM or the non-volatile RAM. ..

Next, in S602, the CPU determines whether or not the retreat of the own vehicle VM has started based on the output of the shift position sensor 133. Until the retreat starts (that is, S602 = NO), the CPU waits for the progress of processing to S603. When the retreat starts (ie, S602 = YES), the CPU advances the process to S603. In S603, the CPU determines whether or not the current target parking position TP is set based on the end face position of the parked vehicle PV which is a light vehicle (that is, whether or not it is due to S408 or S508). To judge.

When the target parking position TP this time is based on the light vehicle (that is, S603 = YES), the CPU advances the process to S604. In S604, the CPU determines whether or not the own vehicle VM has reached the target parking position TP, that is, whether or not the own vehicle VM is completely within the target parking position TP. Until the own vehicle VM reaches the target parking position TP (that is, S604 = NO), the CPU waits for the processing progress to S605, so that the own vehicle VM continues to retreat as it is. When the own vehicle VM reaches the target parking position TP (that is, S604 = YES), the CPU advances the process to S605 and executes the process of stopping the own vehicle VM. As a result, the parking support process is completed.

When the target parking position TP this time is based on a normal vehicle (that is, S603 = NO), the CPU advances the process to S606. In this case, the CPU uses a distance measuring sensor such as the RL distance measuring sensor 113 or an imaging unit such as the rear camera 122 to use a parked vehicle as a reference for setting the target parking position TP while the own vehicle VM is reversing. Detects PV (hereinafter referred to as "reference vehicle") tires.

In S606, the CPU determines whether or not the rear wheel of the reference vehicle has been detected. When the reference vehicle is in the opposite direction to the assumption (that is, forward parking in the case of parallel parking shown in FIG. 2A), the tire detected in S606 is actually the "front wheel". However, in the guidance process of the own vehicle VM this time, the tire detected in S606 is the tire on the backward side of the own vehicle VM, so that it may be treated as the "rear wheel" in this process.

Until the rear wheel of the reference vehicle is detected (that is, S606 = NO), the CPU waits for the processing progress to S607, so that the own vehicle VM continues to retreat as it is. When the rear wheel of the reference vehicle is detected (that is, S606 = YES), the CPU advances the process to S607.

Even if the reference vehicle is determined to be an ordinary vehicle in the vehicle type determination (that is, S402, etc.), as described above, the vehicle type determination is made due to the actual body size of the reference vehicle being the same as that of a light vehicle or foreign matter adhering. It may not be done normally. In such a case, if the own vehicle VM is guided to the current target parking position TP as it is, a problem such as the own vehicle VM protruding from the parking space PS may occur.

Therefore, in S607, the CPU determines whether or not it is necessary to correct the target parking position TP based on the tire recognition result in the reference vehicle. Specifically, the CPU determines that it is necessary to correct the target parking position TP, for example, when the detected front-rear wheel spacing is less than a predetermined value.

When it is necessary to correct the target parking position TP (that is, S607 = YES), the CPU corrects the target parking position TP in S608 and then proceeds to the process in S609. The correction of the target parking position TP can be performed, for example, by moving the target parking position TP to the vehicle passage VP side by a predetermined amount. Alternatively, the correction of the target parking position TP can be performed, for example, by changing the target parking position TP to that of a light vehicle standard. When it is not necessary to correct the target parking position TP (that is, S607 = NO), the CPU skips the process of S608 and advances the process to S609.

In S609, the CPU determines whether or not the own vehicle VM has reached the target parking position TP. That is, the processing of S609 is the same as the processing of S604. Until the own vehicle VM reaches the target parking position TP (that is, S609 = NO), the CPU waits for the processing progress to S605, so that the own vehicle VM continues to retreat as it is. When the own vehicle VM reaches the target parking position TP (that is, S609 = YES), the CPU advances the process to S605 and executes the process of stopping the own vehicle VM. As a result, the parking support process is completed.

The flowchart of FIG. 6, particularly the processing of S603 and S606 to S608, corresponds to the operation of the target position correction unit 163. As described above, in this specific example, the target position correction unit 163 is the parking space of the own vehicle VM based on the recognition result regarding the outer shape or the appearance of the parked vehicle PV while the own vehicle VM is entering the parking space PS. Correct the target parking position TP while entering the PS. As a result, the occurrence of problems such as the own vehicle VM protruding from the parking space PS can be satisfactorily suppressed. That is, according to this specific example, the setting accuracy of the target parking position TP is improved as compared with the conventional case.

(Modification example)
The present invention is not limited to the above embodiment. Therefore, the above embodiment can be changed as appropriate. A typical modification will be described below. In the following description of the modified example, only the parts different from the above-described embodiment will be described. Further, in the above-described embodiment and the modified example, the same or equal parts are designated by the same reference numerals. Therefore, in the following description of the modified example, the description in the above embodiment may be appropriately incorporated with respect to the components having the same reference numerals as those in the above embodiment, unless there is a technical contradiction or a special additional explanation.

The present invention is not limited to the specific device configuration shown in the above embodiment. That is, for example, the own vehicle VM and the parked vehicle PV are not limited to the four-wheeled vehicle. Specifically, the own vehicle VM may be a three-wheeled vehicle, or may be a six-wheeled or eight-wheeled vehicle such as a freight truck. Further, the type of the own vehicle VM may be an automobile having only an internal combustion engine, an electric vehicle or a fuel cell vehicle not having an internal combustion engine, or a hybrid vehicle.

When the distance measuring sensor is an ultrasonic sensor, the arrangement and number of distance measuring sensors are not limited to the above specific examples. That is, for example, the FL ranging sensor 111 and the FR ranging sensor 112 may be omitted. Alternatively, the RL ranging sensor 113 and the RR ranging sensor 114 may be omitted. Alternatively, a so-called corner sensor may be provided in place of, or in combination with, all or part of the FL ranging sensor 111, the FR ranging sensor 112, the RL ranging sensor 113, and the RR ranging sensor 114.

Distance measuring sensors are not limited to ultrasonic sensors. That is, for example, the ranging sensor may be a laser radar sensor or a millimeter wave radar sensor.

The arrangement, mounting position, and number of cameras as an imaging unit are not limited to the above specific examples. That is, the left camera 123 and the right camera 124 can be mounted at a place other than the door mirror. Further, a part of the front camera 121, the rear camera 122, the left camera 123, and the right camera 124 may be omitted or replaced with another camera.

The image sensor constituting the image pickup unit is not limited to the CCD sensor. That is, for example, a CMOS sensor can be used instead of the CCD sensor. CMOS is an abbreviation for Complementary MOS.

In the above embodiment, the parking support ECU 160 has a configuration in which the CPU reads a program from a ROM or the like and starts the parking support ECU 160. However, the present invention is not limited to such a configuration. That is, for example, the parking support ECU 160 may be an ASIC such as a digital circuit configured to enable the above operation, for example, a gate array. ASIC is an abbreviation for APPLICATION SPECIFIC INTEGRATED CIRCUIT.

The present invention is not limited to the specific operation examples and processing modes shown in the above embodiments. For example, when the own vehicle VM is a large vehicle such as a bus, the determination of whether or not the vehicle type of the parked vehicle is a short type in which the total length of the vehicle is shorter than that of the own vehicle VM (for example, S402) is determined as "No. Whether or not one of the parked vehicle PV1 and the second parked vehicle PV2 is an ordinary vehicle or a light vehicle ”can be determined.

In S404, the CPU may set the target parking position TP so that the front end position of the target parking position TP coincides with the position offset by a predetermined amount in the vehicle overall length direction from the front end position acquired in S403. Similarly, in S408, the CPU sets the target parking position TP so that the rear end position of the target parking position TP coincides with the position offset by a predetermined amount in the vehicle overall length direction from the estimated rear end position acquired in S407. It may be set.

In S504, the CPU sets the target parking position TP so that the position of the front end portion of the target parking position TP coincides with the position offset by a predetermined amount in the vehicle width direction from the front side side position acquired in S503. It may be set. Similarly, in S508, the CPU performs target parking so that the position of the rear end portion of the target parking position TP coincides with the position offset by a predetermined amount in the vehicle width direction from the rear side surface position acquired in S507. The position TP may be set.

The target parking position TP may be set based on a selection operation by the user. 7 and 8 are partially modified versions of the operation examples of FIGS. 4 and 5 so as to correspond to a selection operation by the user.

In the flowchart of FIG. 7, the processing of S401 and S402 is the same as that of FIG. 4, and the subsequent processing when the determination of S402 is NO is also the same as that of FIG. Further, when the determination in S402 is YES and the determination in S405 is YES, the subsequent processing is the same as in FIG. 4. In this modification, when the determination of S402 is YES and the determination of S405 is NO, that is, one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle and the other is normal. The processing in the case of an automobile is different from that in the case of FIG.

In this modification, the target parking position TP is a first target parking position candidate based on a normal vehicle (that is, a candidate after correction) and a second target parking position candidate based on a light vehicle (that is, a candidate before correction). Is selected based on the user's operation. Specifically, when one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle and the other is a normal vehicle (that is, S405 = NO), the CPU proceeds with the process from S711 to S716. After that, the target parking position setting process is finished.

In S711, the CPU acquires the front end position of the parked vehicle PV, which is an ordinary vehicle, in the same manner as in S403. In S712, the CPU sets the first target parking position candidate based on the ordinary vehicle by the same processing as in S404, and stores the set first target parking position candidate in the RAM or the non-volatile RAM.

In S713, the CPU acquires the front end position of the parked vehicle PV, which is a light vehicle, as in S406. In S714, the CPU estimates the rear end position of the parked vehicle PV, which is a light vehicle, by the same processing as in S407. In S715, the CPU sets a second target parking position candidate based on the light vehicle by the same process as in S408, and stores the set second target parking position candidate in the RAM or the non-volatile RAM.

In S716, the CPU reads out the first target parking position candidate and the second target parking position candidate from the RAM or the non-volatile RAM, displays them on the image display device 141, and accepts the user input via the input device 143. Further, the CPU selects one of the first target parking position candidate and the second target parking position candidate as the target parking position TP based on the received user input, and selects the selected target parking position TP as RAM or non-volatile. Store in RAM.

In the flowchart of FIG. 8, the processing of S501 and S502 is the same as that of FIG. 5, and the subsequent processing when the determination of S502 is NO is also the same as that of FIG. Further, when the determination of S502 is YES and the determination of S505 is YES, the subsequent processing is the same as in the case of FIG. In this modification, when the determination of S502 is YES and the determination of S505 is NO, that is, one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle and the other is normal. The processing in the case of an automobile is different from that in the case of FIG.

In this modification, the target parking position TP is selected from the first target parking position candidate based on the ordinary vehicle and the second target parking position candidate based on the light vehicle based on the operation by the user. Will be done. Specifically, when one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle and the other is a normal vehicle (that is, S505 = NO), the CPU proceeds with the process from S811 to S816. After that, the target parking position setting process is finished.

In S811, the CPU acquires the front side side position of the parked vehicle PV, which is an ordinary vehicle, as in S503. In S812, the CPU sets the first target parking position candidate based on the ordinary vehicle by the same processing as in S504, and stores the set first target parking position candidate in the RAM or the non-volatile RAM.

In S813, the CPU acquires the front side side position of the parked vehicle PV, which is a light vehicle, as in S506. In S814, the CPU estimates the position of the back side surface of the parked vehicle PV, which is a light vehicle, by the same processing as in S507. In S815, the CPU sets a second target parking position candidate based on the light vehicle by the same process as in S508, and stores the set second target parking position candidate in the RAM or the non-volatile RAM.

In S816, the CPU reads out the first target parking position candidate and the second target parking position candidate from the RAM or the non-volatile RAM, displays them on the image display device 141, and accepts the user input via the input device 143. That is, the processing of S816 is the same as the processing of S716. Further, the CPU selects one of the first target parking position candidate and the second target parking position candidate as the target parking position TP based on the received user input, and selects the selected target parking position TP as RAM or non-volatile. Store in RAM.

According to this modification, one of the first target parking position candidate based on the ordinary vehicle and the second target parking position candidate based on the light vehicle is confirmed by the user on the image display device 141. And the target parking position TP is set by being selected via the input operation on the input device 143. As a result, the occurrence of problems such as the target parking position TP protruding from the parking space PS due to a problem of vehicle type determination can be satisfactorily suppressed. That is, according to this modification, the setting accuracy of the target parking position TP is improved as compared with the conventional case.

FIG. 9 shows a modified example in which the flowchart of FIG. 4 is partially modified. That is, the flowchart of FIG. 9 is the same as the flowchart of FIG. 4 except that S407 and S408 in FIG. 4 are changed to S907 and S908.

In S907, the CPU determines the center position of the parked vehicle PV, which is a light vehicle, in the vehicle length direction based on the front end position acquired in S406 and the standard information of the light vehicle stored in the ROM or the non-volatile RAM. presume. The rear end position estimated in S907 is hereinafter referred to as an "estimated center position". Subsequently, in S908, the CPU sets the target parking position TP so that the estimated center position and the center position of the target parking position TP match, and stores the set target parking position TP in the RAM or the non-volatile RAM. ..

As described above, the present modification shown in FIG. 9 uses the estimated rear end position of the parked vehicle PV in that the estimated center position of the parked vehicle PV is used for setting the target parking position TP. That is, it is different from the example of FIG. 4). The same effect as that of the specific example is obtained by such a modification. It should be noted that this modification can also be applied to the modification corresponding to the above user selection. That is, S907 and S908 in FIG. 9 are applied instead of S407 and S408 in FIG. 7, and S713, S714 and S715 in FIG. 7 are appropriately modified according to the processing contents of S406, S907 and S908 in FIG. obtain.

FIG. 10 shows another modified example in which the flowchart of FIG. 4 is partially modified. In the flowchart of FIG. 10, the processing of S401 and S402 is the same as that of FIG. 4, and the subsequent processing when the determination of S402 is NO is also the same as that of FIG. Further, when the determination of S402 is YES and the determination of S405 is NO, the subsequent processing is the same as in the case of FIG. In this modification, the processing when the determination of S402 is YES and the determination of S405 is YES, that is, when the parked vehicle PV adjacent to the parking space PS this time is only a light vehicle, is the process of FIG. Different from the case of.

Referring to FIGS. 1 and 2A, in the present modification, the target position setting unit 162 is in the case where the vehicle type of the parked vehicle PV adjacent to the parking space PS is a short type (that is, a light vehicle) and parallel parking is performed. , A position offset by a predetermined vertical offset amount Vo from the front end of the parked vehicle PV to the own vehicle VM side along the vehicle length direction is set as the front end position of the target parking position TP.

Specifically, referring to FIG. 10, when the parked vehicle PV adjacent to the parking space PS is only a light vehicle (that is, S405 = YES), the CPU advances the process to S406. At S406, the CPU acquires the front end position of the parked vehicle PV, which is a light vehicle, as in the case of FIG. Next, the CPU advances the process to S1007.

In S1007, the CPU acquires the vertical offset amount Vo. Specifically, the vertical offset amount Vo is, for example, a preset value based on the standard information of the total length of the vehicle in ordinary automobiles and light automobiles, and can be stored in the ROM or the non-volatile RAM in advance. That is, the CPU can acquire the vertical offset amount Vo by reading it from the ROM or the non-volatile RAM in S1007. Alternatively, for example, in S1007, the CPU can calculate the vertical offset amount Vo by using the standard information of the vehicle overall length in the light vehicle and the vehicle overall length information of the own vehicle VM stored in the ROM or the non-volatile RAM. ..

After the processing of S1007, the CPU advances the processing to S1009. In S1009, the CPU corrects the front end position acquired in S406 with the vertical offset amount Vo acquired in S1007. After that, the CPU advances the process to S404. In this case, in S404, the target parking position TP is set based on the front end position corrected by the vertical offset amount Vo. The set target parking position TP is stored in the RAM or the non-volatile RAM.

FIG. 11 shows a modified example in which the flowchart of FIG. 10 is partially modified. In the flowchart of FIG. 11, when the determination of S402 is YES and the determination of S405 is NO, that is, one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle and the other is The processing in the case of an ordinary vehicle is different from that in the case of FIG.

In this modification, as shown in FIG. 2A, it is assumed that the first parked vehicle PV1 and the second parked vehicle PV2 are arranged with the parking space PS of this time in between. At this time, the distance between the first parked vehicle PV1 which is a light vehicle and the target parking position TP is G1, and the distance between the second parked vehicle PV2 which is a normal vehicle and the target parking position TP is G2. G1 is the distance between the side surface of the first parked vehicle PV1 on the target parking position TP side and the side of the target parking position TP on the first parked vehicle PV1 side. G2 is the distance between the side surface of the second parked vehicle PV2 on the target parking position TP side and the side of the target parking position TP on the second parked vehicle PV2 side.

As shown in FIG. 2A, of the first parked vehicle PV1 and the second parked vehicle PV2 adjacent to the parking space PS this time, the first parked vehicle PV1 is a light vehicle and the second parked vehicle PV2 is normal. It can be a car. In this case, if the distance G1 between the first parked vehicle PV1 which is a light vehicle and the target parking position TP and the distance G2 between the second parked vehicle PV2 which is a normal vehicle and the target parking position TP are the same, then Inconvenience may occur when the first parked vehicle PV1 is replaced from a light vehicle to an ordinary vehicle. Specifically, when the first parked vehicle PV1 is replaced from a light vehicle to an ordinary vehicle, the interval G1 becomes narrower than the interval G2. In this case, the interval G1 may be too narrow for the occupant to get on and off, while the interval G2 may be too wide for the occupant to get on and off.

Therefore, referring to FIGS. 1 and 2A, in the present modification, in the case of parallel parking, the target position setting unit 162 is a parked vehicle PV that is not a short type (that is, the second parked vehicle PV2 in the example of FIG. 2A). The distance G2 from the target parking position TP is set to be narrower than the distance G1 between the short type parked vehicle PV (that is, the first parked vehicle PV1 in the example of FIG. 2A) and the target parking position TP. Hereinafter, the processing contents according to the flowchart of FIG. 11 will be described only for the parts different from those of FIG.

When one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle and the other is a normal vehicle (that is, S405 = NO), the CPU advances the process to S1111. In S1111, the CPU detects the width of the parking space PS this time (that is, the dimension in the vehicle width direction). The detection of the width of the parking space PS in S1111 can be performed, for example, based on the image recognition result by the rear camera 122.

After the processing of S1111, the CPU advances the processing to S1112. At S1112, the CPU acquires the lateral offset amount Ho. The lateral offset amount Ho can be calculated using, for example, the width of the parking space PS detected in S1111 and the standard information of the vehicle width in the light vehicle stored in the ROM or the non-volatile RAM. After that, the CPU advances the process to S403.

After the process of S404, the CPU executes the process of S1113. In S1113, the CPU determines whether or not the lateral offset amount Ho has been acquired.

If the determination in S405 is NO, the lateral offset amount Ho is acquired in S1112. Therefore, in this case (that is, S1113 = YES), the CPU ends the target parking position setting process after executing the process of S1114. In S1114, the CPU corrects the position of the target parking position TP in the vehicle width direction using the lateral offset amount Ho, and stores the corrected target parking position TP in the RAM or the non-volatile RAM.

When the determination of S402 is NO and when the determination of S405 is YES, the position correction of the target parking position TP in the vehicle width direction is not necessary. Therefore, in this case, the lateral offset amount Ho is not acquired by S1112. Therefore, in this case (that is, S1113 = NO), the CPU skips the process of S1114 and ends the target parking position setting process.

As described above, in the present modification, when one of the first parked vehicle PV1 and the second parked vehicle PV2 adjacent to the parking space PS this time is a light vehicle and the other is a normal vehicle, the target parking is performed. The position of the position TP in the vehicle width direction is appropriately set. Therefore, according to this modified example, even if an adjacent light vehicle is replaced with a normal vehicle after the parking of the own vehicle VM is completed, the target parking position TP does not hinder the passengers getting on and off the own vehicle. Can be set well.

The flowcharts of FIGS. 10 and 11 can also be modified as appropriate. That is, for example, the flowcharts of FIGS. 10 and 11 can be transformed for parallel parking.

Further, in the flowcharts of FIGS. 10 and 11, the CPU determines the first target parking position candidate after correction by the vertical offset amount Vo and / or the horizontal offset amount Ho before setting the target parking position TP, and the first target parking position candidate before correction. (Ii) The target parking position candidate can be displayed on the image display device 141 with the RAM, and the user input can be received via the input device 143. In this case, the CPU selects one of the first target parking position candidate and the second target parking position candidate as the target parking position TP based on the received user input. According to such a modification, the same effect as that of the modification of FIGS. 7 and 8 can be obtained.

12A and 12B show an example of a screen display for selecting a target parking position candidate at the time of parallel parking and parallel parking, respectively, corresponding to the modified examples of FIGS. 7 to 11. In the figure, TP1 indicates a first target parking position candidate, and TP2 indicates a second target parking position candidate. Note that FIGS. 12A and 12B display a target parking position candidate and its surroundings in a so-called around view monitor format. However, the present invention is not limited to such display modes. That is, the screen display in the around view monitor format in FIGS. 12A and 12B can be changed to the screen display in the back monitor format.

FIG. 13 shows a modified example of vehicle type determination. This modification is an example in which the detection result of the front-rear wheel distance by the distance measuring sensor or the like is supplementarily used for the vehicle type determination when there is a problem in the extraction of the license plate image by S401.

Specifically, referring to the flowchart of FIG. 13, based on the license plate image extracted in S401, it is determined in S402 that neither the first parked vehicle PV1 nor the second parked vehicle PV2 is a light vehicle. If (ie, S402 = NO), the CPU advances the process to S1321.

In S1321, the CPU extracts the front and rear wheel positions in the first parked vehicle PV1 and the second parked vehicle PV2. Next, in S1322, the CPU determines whether or not one of the first parked vehicle PV1 and the second parked vehicle PV2 is a light vehicle based on the extracted front and rear wheel positions. That is, the processing content of S1322 is the same as the processing content of S502.

If the determination in S1322 is YES, the CPU advances the process to S405. On the other hand, when the determination in S1322 is NO, the CPU advances the process in the same manner as in the case where the determination in S405 is NO. According to this modification, the robustness of vehicle type determination is improved.

The inequality sign in each determination process may have an equal sign or no equal sign. That is, for example, "less than a predetermined value" can be changed to "less than or equal to a predetermined value".

Modifications are also not limited to the above examples. Also, a plurality of variants can be combined with each other. Further, all or part of the above embodiments and all or part of the modifications may be combined with each other.

100 Parking support device 111 FL distance measurement sensor 112 FR distance measurement sensor 113 RL distance measurement sensor 114 RR distance measurement sensor 121 Front camera 122 Rear camera 123 Left camera 124 Right camera 160 Parking support ECU 161 Type determination unit 162 Target position setting Part 163 Target position correction part PS Parking space PV Parking vehicle TP Target parking position VM Own vehicle

Claims (6)

Parking support configured to support parallel parking of the own vehicle in the parking space (PS) adjacent to the parked vehicle (PV1, PV2) by being mounted on the own vehicle (VM) which is an ordinary vehicle. Device (100)
An imaging unit (121-124) that acquires image information corresponding to an image of the surroundings of the own vehicle, and
A type determination unit (161) that determines the vehicle type of the parked vehicle based on the image recognition result of the license plate in the parked vehicle acquired based on the image information.
Target parking of the own vehicle in the parking space based on the vehicle type determined by the type determination unit and the front end position of the parked vehicle acquired by using the front end position acquisition means (111, 113). The target position setting unit (162) that sets the position (TP),
With
The type determination unit determines whether or not the vehicle type of the parked vehicle is a light vehicle as a short type having a shorter vehicle overall length than the own vehicle.
Parking support device. When the vehicle type of the parked vehicle is the light vehicle, the target position setting unit sets a position offset from the front end position of the parked vehicle, which is the light vehicle, to the own vehicle side as the target parking position. Set as the position of the end on the side close to the own vehicle,
The parking support device according to claim 1. When the vehicle type of the parked vehicle is the light vehicle, the target position setting unit sets the target based on the front end position of the parked vehicle which is the light vehicle and the vehicle standard value in the light vehicle. Set the parking position,
The parking support device according to claim 1. The parking space is between the parked vehicle belonging to the first vehicle type and the parked vehicle belonging to the second vehicle type, which is the light vehicle having a shorter vehicle total length than the first vehicle type. If located in
The target position setting unit sets the target parking position based on the front end position of the parked vehicle belonging to the first vehicle type.
The parking support device according to any one of claims 1 to 3. The target position setting unit sets the distance between the parked vehicle belonging to the first vehicle type and the target parking position from the distance between the parked vehicle belonging to the second vehicle type and the target parking position. Also set narrowly,
The parking support device according to claim 4. A parking support device configured to support parallel parking of the own vehicle in a parking space (PS) adjacent to the parked vehicle (PV1, PV2) by being mounted on the own vehicle (VM) which is an ordinary vehicle. A parking support control device (160) provided in 100) and controlling a parking support operation in the parking support device.
Based on the image recognition result of the license plate in the parked vehicle, which is acquired based on the image information corresponding to the image around the own vehicle acquired by using the imaging unit (121-124), the parked vehicle The type determination unit (161) that determines the vehicle type, and
Target parking of the own vehicle in the parking space based on the vehicle type determined by the type determination unit and the front end position of the parked vehicle acquired by using the front end position acquisition means (111, 113). The target position setting unit (162) that sets the position (TP),
With
The type determination unit determines whether or not the vehicle type of the parked vehicle is a light vehicle as a short type having a shorter vehicle overall length than the own vehicle.
Parking assistance control device.

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