JP6937558B2 - Parking support method and parking support device - Google Patents

Description

The present invention relates to a parking support method and a parking support device.

Conventionally, a technique for assisting parking of a vehicle by detecting an obstacle with a sensor provided on the vehicle has been disclosed (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2014-76697

However, there are various surrounding conditions of the vehicle to be parked. For example, if the vehicle is parked in a fixed position after snowfall, the snow wall or the like may be an obstacle and it may be difficult to pass through after getting off.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a parking support method and a parking support device capable of setting a parking space according to the surrounding conditions of a vehicle.

The parking support method according to one aspect of the present invention detects an empty space in which the vehicle can be parked based on the surrounding condition of the vehicle detected by the sensor, and determines whether or not the empty space is wider than a predetermined area and the road surface. based on the environmental conditions including the conditions to determine the length of the vehicle width direction of the unit a parking space for one vehicle vehicle. Then, one or a plurality of unit parking spaces are set in the empty space based on the length in the vehicle width direction.

According to the present invention, a parking space can be set according to the surrounding conditions of the vehicle.

FIG. 1 is a functional block diagram of the parking support device according to the present embodiment. FIG. 2 is a flowchart showing an example of the parking support method according to the present embodiment. FIG. 3 is a diagram showing an arrangement example of the unit parking space set in step S9 of FIG. FIG. 4 is a diagram showing an example of arrangement of unit parking spaces when the length in the vehicle width direction is increased in step S9 of FIG. FIG. 5 is a diagram showing an arrangement example of the unit parking space set in step S11 of FIG. FIG. 6 is a diagram showing an example of arrangement of unit parking spaces when the length in the vehicle width direction is increased in step S11 of FIG.

Hereinafter, embodiments will be described with reference to the drawings. The same members are designated by the same reference numerals, and the description thereof will be omitted again.

The parking assistance device shown in FIG. 1 is mounted on a vehicle, and includes, for example, a general-purpose microcontroller including a CPU, a memory, and an input / output unit, and parking assistance is performed by executing a pre-installed computer program. It constitutes a plurality of information processing circuits included in the device. Each part constituting the microcomputer may be composed of one piece of hardware or may be composed of separate hardware. The microcomputer may also be used as an electronic control unit (ECU) used for other controls related to the vehicle such as automatic driving control. The microcomputer performs a series of information processing to perform parking assistance from the data acquired by the sensor.
The plurality of information processing circuits configured by the microcomputer include an ambient situation detection unit 1, a parking space setting unit 2 (control unit), a vehicle width direction length adjusting unit 3, a parking space arrangement display unit 4, and a parking space arrangement mask. The unit 5 is provided. The surrounding condition detection unit 1 includes an obstacle detection unit 11, an obstacle distance calculation unit 12, a road surface condition detection unit 13, another vehicle parking condition detection unit 14, and an air temperature detection unit 15.

The surrounding condition detection unit 1 detects the surrounding condition of the vehicle by, for example, a sensor provided in the vehicle. In particular, the obstacle detection unit 11 detects surrounding obstacles and the positions of obstacles from, for example, image data captured by an in-vehicle camera or measured values of a laser radar. When two obstacles are included in the surrounding conditions and these obstacles are detected, the distance between obstacles calculation unit 12 calculates the distance between the two obstacles (hereinafter referred to as "distance between obstacles"). do.

The road surface condition detection unit 13 detects the road surface condition from the weather information acquired from the outside by, for example, wireless communication between roads or between vehicles. The other vehicle parking status detection unit 14 detects the parking status of the other vehicle, and the temperature detection unit 15 detects the outside air temperature using a temperature sensor mounted on the vehicle. The surrounding conditions may be detected by other vehicles, sensors installed in the surroundings, or the like, and may be received by communication. Further, the surrounding situation may be other than the above situation.

The parking space setting unit 2 detects an empty space in which a vehicle can be parked based on the surrounding conditions, and based on the surrounding conditions, the length of the unit parking space for one vehicle in the vehicle width direction (hereinafter, "Length in vehicle width direction") is calculated. Then, one or a plurality of unit parking spaces are set in the empty space based on the length in the vehicle width direction.

Here, the unit parking space has a substantially quadrangular shape determined by the length in the traveling direction of the vehicle and the length in the vehicle width direction, and the length in the vehicle width direction refers to the latter. Further, setting a unit parking space in an empty space means determining the number of unit parking spaces according to the size and shape of the empty space and determining the position of each unit parking space in the empty space. Further, the direction in which the plurality of unit parking spaces are arranged is the vehicle width direction.

The vehicle width direction length adjusting unit 3 changes the vehicle width direction length based on an instruction from the occupant of the vehicle. Based on the instruction from the occupant of the vehicle, the parking space arrangement display unit 4 displays the arrangement of the unit parking space on, for example, a display (display device) mounted on the vehicle and visible to the occupant. The parking space arrangement mask unit 5 hides (masks) the arrangement of the unit parking space until instructed by the occupant.

Next, with reference to FIG. 2, the parking support method of the present embodiment will be described.
When a vehicle equipped with a parking support device tries to start parking, the surrounding condition detection unit 1 first detects the surrounding condition of the vehicle by, for example, a sensor provided in the vehicle (S1). In particular, the obstacle detection unit 11 detects surrounding obstacles, the obstacle distance calculation unit 12 calculates the distance between obstacles, the road surface condition detection unit 13 detects the road surface condition, and the other vehicle parking condition detection unit 14 Detects the parking status of another vehicle, and the temperature detection unit 15 detects the outside air temperature. The surrounding conditions may be obtained by communication from, for example, other vehicles or sensors installed in the surroundings.

The obstacle detection unit 11 detects, for example, other vehicles, snow walls after snowfall, structures such as buildings and columns, and ropes for separating parking lots. The distance between obstacles calculation unit 12 calculates, for example, the distance between two other vehicles as the distance between obstacles. The road surface condition detection unit 13 detects, for example, the slope of the road surface, the degree of wetness of the road surface, whether the road surface is paved or grass, and the like. The other vehicle parking status detection unit 14 detects, for example, whether another vehicle is parked along the white line of the parking lot, whether the tires are in contact with the wheel chocks, whether the vehicle spacing is wide or narrow, and the like.

Next, the parking space setting unit 2 detects an empty space in which the vehicle can be parked based on the surrounding condition detected in step S1 (S3), and determines whether or not the empty space is wider than a predetermined area. (S5). Here, for example, it is determined whether or not the area of the empty space is larger than the predetermined area. Alternatively, it is determined whether or not the number of vehicles that can be parked in the empty space is greater than the predetermined number. Alternatively, the determination may be made by another method.

When the empty space is wider than the predetermined area (S5: YES), the parking space setting unit 2 matches the length in the vehicle width direction with the length Ls in the vehicle width direction (hereinafter referred to as Ls) based on the surrounding conditions. It is determined whether it should be caused or longer than Ls (S7).

For example, if there is a snow wall and it is difficult to pass through after getting off if you park in a fixed position along the white line, if there is not enough space to put your feet when getting off, or if the white line cannot be detected due to snow etc., the vehicle width It is determined that the directional length should be longer than Ls.

For example, if the outside temperature is low and it is difficult for a heavy-duty occupant to get off, or if the road surface is steep and the door may open naturally due to its weight, make the length in the width direction longer than Ls. Judge that it should be. For example, if another vehicle is not parked along the white line of the parking lot, or if the tires are not in contact with the wheel chock, it can be judged that it is difficult to get on and off, so the length in the width direction is longer than Ls. Judge that it should be. For example, even when the distance between other vehicles is longer than a predetermined distance, it can be determined that it is difficult to get on and off, so it is determined that the length in the vehicle width direction should be longer than Ls.

If there is no such situation, it is determined that the length in the vehicle width direction should be matched with Ls.

When it is determined that the length in the vehicle width direction should be matched with Ls (S7: length in the vehicle width direction = Ls), the parking space setting unit 2 matches the length in the vehicle width direction of the unit parking space with Ls, and the parking space setting unit 2 matches the length in the vehicle width direction with Ls. One or more unit parking spaces with the length in the vehicle width direction as Ls are set as empty spaces (S9).

As shown in FIG. 3, a unit parking space 101 having a length in the vehicle width direction of Ls is set for an empty space 100 sandwiched between other vehicles.

In some cases, the parking space setting unit 2 may obtain the length in the vehicle width direction based on the distance between obstacles and set the unit parking space as an empty space.

For example, as shown in FIG. 4, the distance between two other vehicles is defined as the distance between obstacles LA, the length LB of the empty space is calculated according to the distance LA between obstacles, and the length LB is divided by Ls. However, if a remainder occurs, the length in the vehicle width direction may be made longer than Ls by the length α corresponding to the remainder. The obstacle may not be another vehicle, but may be, for example, a snow wall at the time of snowfall, a building, a pillar, or the like.

The parking space arrangement mask unit 5 hides (masks) the arrangement of the unit parking space until instructed by the occupant.

On the other hand, when it is determined that the length in the vehicle width direction should be longer than Ls (S7: length in the vehicle width direction> Ls), the parking space setting unit 2 makes the length in the vehicle width direction of the unit parking space longer than Ls. .. Then, one or a plurality of unit parking spaces whose length in the vehicle width direction is longer than Ls are set as empty spaces (S9).

The parking space setting unit 2 has a high possibility that the length in the vehicle width direction, for example, makes it difficult to get off or pass through, the outside temperature is low, and the door of another vehicle parked on a slope opens naturally due to its weight. Calculate according to the size. Alternatively, the length in the vehicle width direction may be matched with a predetermined length longer than Ls.

As shown in FIG. 5, a unit parking space 101 is set in which the length in the vehicle width direction is LS longer than Ls with respect to the empty space 100 sandwiched between other vehicles.

Further, as described above, the length in the vehicle width direction may be obtained based on the distance between obstacles.

For example, as shown in FIG. 6, the distance between two other vehicles is defined as the distance between obstacles LA, the length LB of the empty space is calculated according to the distance LA between obstacles, and the length LB is divided by LS. However, if a remainder occurs, the length in the vehicle width direction may be made longer than the LS by the length α corresponding to the remainder.

The parking space arrangement mask unit 5 hides (masks) the arrangement of the unit parking space until instructed by the occupant.

In this way, after the unit parking space is set in the empty space (S9, S11), the parking space arrangement display unit 4 determines whether or not there is an instruction to display the arrangement of the unit parking space (S13).

For example, the parking space arrangement display unit 4 displays an empty space on a touch panel type display that can be visually recognized by an occupant. Then, when the occupant touches the empty space (S13: YES), the parking space arrangement display unit 4 recognizes this as an instruction and displays the arrangement of the unit parking space at the position of the empty space on the display (S15).

On the other hand, when the empty space is the same as or narrower than the predetermined area (S5: NO), the parking space setting unit 2 makes the length in the vehicle width direction match Ls and makes the unit parking space the empty space as in step S9. Is set to one or more (S17). As described above, the length in the vehicle width direction may be obtained based on the distance between obstacles.

Next, the parking space arrangement display unit 4 displays the arrangement of the unit parking space in the empty space on the display in the same manner as in step S15 (S19).

After displaying the arrangement of the unit parking spaces (S15, S19), when the occupant selects one of the unit parking spaces, for example, when the occupant touches the unit parking space on the touch panel display, the process proceeds to step S21. In step S21, for example, the operation method of the steering wheel and the brake is guided by display or voice (S21) with the selected unit parking space as the target, and the process is completed.

By providing the parking support in step S21, the vehicle is parked in the target unit parking space. Since this unit parking space is set based on the surrounding conditions, for example, even if there is a snow wall, it is easy to pass through. In addition, a space for placing feet can be secured. In addition, you can easily get on and off even if you wear heavy clothes. Also, the slope of the road can reduce the possibility that the door will open naturally under its weight and damage the next vehicle. If the parking support in step S21 is unnecessary, it may be omitted and the occupant alone may park in the target unit parking space.

Further, although not shown in FIG. 2, the vehicle width direction length adjusting unit 3 changes the vehicle width direction length based on an instruction from the occupant of the vehicle. For example, when the occupant who sees the arrangement of the unit parking spaces displayed on the display is not confident in parking and wants to increase the length in the vehicle width direction, he / she performs a predetermined operation. As a result, the vehicle width direction length adjusting unit 3 increases the vehicle width direction length according to the operation. Alternatively, the length in the vehicle width direction is shortened according to the operation. As a result, the length in the vehicle width direction can be arbitrarily changed according to the wishes of the occupants.

As described above, according to the present embodiment, an empty space in which a vehicle can be parked is detected based on the surrounding condition of the vehicle detected by the sensor, and a unit for one vehicle is detected based on the surrounding condition. Find the length of the parking space in the vehicle width direction (length in the vehicle width direction). Then, one or a plurality of unit parking spaces are set in the empty space based on the length in the vehicle width direction. Therefore, a parking space (unit parking space) can be set as an empty space according to the surrounding conditions of the vehicle. In addition, an appropriate number of unit parking spaces can be set according to the surrounding conditions. For example, when it is difficult to detect the width of a parking space in a parking lot, specifically, even if the border of the parking space is hidden by a parking environment such as snow or rain, a unit according to the surrounding conditions. You will be able to set a parking space.

Further, since the surrounding condition includes the road surface condition and the length in the vehicle width direction is calculated based on the road surface condition, the parking space can be set as an empty space according to the road surface condition. For example, the parking space can be set even when the white line that defines the parking space cannot be detected due to snow or rain.

In addition, the surrounding conditions include two obstacles, and the length in the vehicle width direction is calculated based on the distance between the obstacles. Therefore, for example, even if there is no white line for determining the unit parking space, the parking space can be used. Can be set.

Further, since the length in the vehicle width direction is changed based on the instruction from the occupant of the vehicle, the length in the vehicle width direction can be changed according to the desire of the occupant.

In addition, since the arrangement of the unit parking space is displayed on the display that the occupant can see based on the instruction from the occupant of the vehicle, the occupant is notified of the arrangement of the parking space (unit parking space) at an appropriate timing. can.

Although embodiments of the present invention have been described above, the statements and drawings that form part of this disclosure should not be understood to limit the invention. Various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art from this disclosure.

1 Surrounding condition detection unit 11 Obstacle detection unit 12 Obstacle distance calculation unit 13 Road surface condition detection unit 14 Other vehicle parking condition detection unit 15 Temperature detection unit 2 Parking space setting unit (control unit)
3 Length adjustment unit in the vehicle width direction 4 Parking space arrangement display unit 5 Parking space arrangement mask unit

Claims (5)

In a parking support method that supports parking of the vehicle based on the surrounding conditions of the vehicle detected by the sensor,
Based on the surrounding conditions, an empty space in which the vehicle can be parked is detected.
Based on the surrounding conditions including whether or not the empty space is wider than a predetermined area and the road surface condition, the length of the unit parking space for one vehicle in the vehicle width direction is obtained.
A parking support method comprising setting one or a plurality of the unit parking spaces in the empty space based on the length in the vehicle width direction. The surrounding conditions include two obstacles
The parking support method according to claim 1, wherein the length in the vehicle width direction is obtained based on the distance between the obstacles. The parking support method according to claim 1 or 2 , wherein the length in the vehicle width direction is obtained based on an instruction from the occupant of the vehicle. The parking support method according to any one of claims 1 to 3 , wherein the arrangement of the unit parking spaces is displayed on a display that can be visually recognized by the occupants based on an instruction from the occupants of the vehicle. In a parking support device that assists the parking of the vehicle based on the surrounding conditions of the vehicle detected by the sensor.
Based on the surrounding conditions, an empty space in which the vehicle can be parked is detected, and for one vehicle based on the surrounding conditions including whether or not the empty space is wider than a predetermined area and the road surface condition. A control unit that obtains the length of the unit parking space in the vehicle width direction and sets one or a plurality of the unit parking spaces in the empty space based on the length in the vehicle width direction.
A parking support device characterized by being equipped with.

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