JP7040286B2 - Parking support device - Google Patents

Description

The present invention relates to a parking support device that executes parking support control for parking a vehicle in a predetermined place.

Conventionally, a parking support device that assists a driver's steering operation when a vehicle is parked has been proposed. In such a parking support device, an area where no obstacle exists is detected by a sensor, a camera, or the like, and an area occupied by the vehicle when the parking of the vehicle is completed is set as a target area. The parking support device calculates a route for moving the vehicle to the target area as a target route, and performs parking support control so that the vehicle moves along the target route.

Japanese Unexamined Patent Publication No. 2005-041373

By the way, the vehicle may be parked in a predetermined area such as a garage at home. Assuming such a situation, the device proposed in Patent Document 1 (hereinafter referred to as "conventional device") can store a target area in parking support control in a memory in advance. The conventional device selectively calls the stored target area to execute parking support control.

When the vehicle is parked, an obstacle may exist in the target area stored in advance. In such a case, a new target area is set in the area where there is no obstacle. However, the newly set target area may not meet the driver's needs. For example, the driver may want to park the vehicle as close as possible to the pre-stored target area. In another example, the driver may think that the vehicle may be parked in any position within the area where there are no obstacles.

The present invention has been made to solve the above problems. That is, one of the objects of the present invention is that when an obstacle exists in a target area stored in advance, the vehicle can be parked in a desired area by presenting a plurality of target area candidates to the driver. It is to provide a parking support device that can support such a situation.

The parking support device of the present invention (hereinafter, may be referred to as "the device of the present invention") is
Acquires vehicle peripheral information including at least an imaging means (83) for acquiring image data around the vehicle, including information about objects existing around the vehicle and information about lane markings on the road surface around the vehicle. Information acquisition means (81, 82, 83) and
A target area determining means (10, 10h) for determining a target area, which is an area occupied by the vehicle when the parking of the vehicle is completed, based on the vehicle peripheral information.
Target area storage means (10, 10i) for storing information about the target area, and
A route determining means (10, 10j) for determining a route capable of moving the vehicle from the current position of the vehicle to the target region as a target route.
A parking support means (10, 10k) that executes parking support control including automatic steering angle control of the vehicle for moving the vehicle along the determined target route.
Display devices (73, 51) capable of displaying images to the occupants of the vehicle, and
An operating means (73) that enables the driver to operate the display device on the image, and
To prepare for.
When the target area determination means is requested to execute the parking support control, the target area determination means is used.
When the information about the target area (810) is stored in advance in the target area storage means, and the position of the vehicle at the present time is in the vicinity of the target area stored in the target area storage means ( Step 505: Yes and Step 510: Yes), it is configured to determine whether or not an obstacle exists in the target area stored in the target area storage means based on the vehicle peripheral information. Yes (step 520).
Further, when the target area determination means has an obstacle in the target area stored in the target area storage means (step 520: Yes).
It is a viewpoint image generated based on the image data acquired by the image pickup means, and the viewpoint image (801) looking at the vehicle and the surroundings of the vehicle is displayed on the display device and is displayed from the obstacle. A plurality of target area candidates (831, 832) having different distances are displayed on the viewpoint image (step 530).
The final target area is determined from the plurality of target area candidates according to the operation of the operation means by the driver (step 535 and step 540).
It is configured as follows.

The apparatus of the present invention having such a configuration can display a plurality of target area candidates on the viewpoint image when an obstacle exists in the target area stored in advance. The driver can select a desired region as the final target region from a plurality of target region candidates. This allows the driver to park the vehicle in the desired area.

It is a schematic block diagram of the parking support device which concerns on embodiment of this invention. It is a top view of the vehicle which shows the arrangement of the 1st ultrasonic sensor, the 2nd ultrasonic sensor and a camera. It is a figure which shows the state which divided the touch panel screen (display screen) shown in FIG. 1 into three areas. It is a flowchart which showed the "parallel parking support execution routine" which is executed by the CPU of the parking support ECU which concerns on embodiment of this invention. It is a flowchart which showed the "target area determination routine" executed by the CPU of the parking support ECU which concerns on embodiment of this invention. It is a flowchart which showed the "flag setting routine" executed by the CPU of the parking support ECU which concerns on embodiment of this invention. It is a figure which shows the screen which is displayed on the touch panel in the situation which the parking support ECU which concerns on embodiment of this invention determines a target area. It is a figure which shows the screen which is displayed on the touch panel in the situation which the parking support ECU which concerns on embodiment of this invention sets a plurality of target area candidates. It is a figure which shows the screen of the touch panel when the parking support ECU which concerns on the modification of this invention displays the cursor for adjusting a target area.

The parking support device according to the embodiment of the present invention (hereinafter, may be referred to as "the present embodiment") is applied to a vehicle. As shown in FIG. 1, the parking support device includes a parking support ECU 10. The parking support ECU 10 includes a microcomputer including a CPU 10a, a RAM 10b, a ROM 10c, a non-volatile memory 10d, an interface (I / F) 10e, and the like. In addition, in this specification, "ECU" means an electric control unit (Electric Control Unit). The ECU includes a microcomputer including a CPU, RAM, ROM, an interface, and the like. The CPU realizes various functions by executing instructions stored in ROM.

The parking support ECU 10 has an engine ECU 20, a brake ECU 30, an electric power steering ECU (hereinafter referred to as "EPS / ECU") 40, a meter ECU 50, and an SBW (Shift-by-) via a CAN (Controller Area Network) 90. Wire) -Connected to the ECU 60 and the navigation ECU 70. These ECUs are connected to each other via CAN90 so that information can be transmitted and received. Therefore, the detection value of the sensor connected to the specific ECU is also transmitted to other ECUs.

The engine ECU 20 is connected to the engine actuator 21. The engine actuator 21 includes a throttle valve actuator that changes the opening degree of the throttle valve of the internal combustion engine 22. The engine ECU 20 can change the torque generated by the internal combustion engine 22 by driving the engine actuator 21. Therefore, the engine ECU 20 can control the driving force of the vehicle by controlling the engine actuator 21. In addition, instead of or in addition to the internal combustion engine 22, an electric motor may be used as a vehicle drive source.

The brake ECU 30 is connected to the brake actuator 31. The brake actuator 31 adjusts the hydraulic pressure supplied to the wheel cylinder built in the brake caliper 32b in response to an instruction from the brake ECU 30, and presses the brake pad against the brake disc 32a by the hydraulic pressure to generate friction braking force. Therefore, the brake ECU 30 can control the braking force (braking force with respect to the wheels) of the vehicle by controlling the brake actuator 31.

The EPS / ECU 40 is connected to the assist motor (M) 41. The assist motor 41 is incorporated in a "steering mechanism including a steering wheel, a steering shaft connected to the steering handle, a steering gear mechanism, and the like" of a vehicle (not shown). The EPS / ECU 40 detects the steering torque input to the steering wheel by the steering torque sensor (not shown) provided on the steering shaft, and drives the assist motor 41 based on the steering torque. The EPS / ECU 40 applies steering torque (steering assist torque) to the steering mechanism by driving the assist motor 41, whereby the steering operation of the driver can be assisted.

The meter ECU 50 is connected to the display 51 and the vehicle speed sensor 52. The display 51 is a multi-information display provided in front of the driver's seat. The display 51 displays various information in addition to displaying measured values such as vehicle speed and engine rotation speed. The vehicle speed sensor 52 detects the speed (vehicle speed) of the vehicle and outputs a signal indicating the vehicle speed to the meter ECU 50. The vehicle speed detected by the vehicle speed sensor 52 is also transmitted to the parking support ECU 10.

The SBW / ECU 60 is connected to the shift position sensor 61. The shift position sensor 61 detects the position of the shift lever as a movable portion of the shift operation unit. In this example, the positions of the shift lever are the parking position (P), the forward position (D), and the reverse position (R). The SBW / ECU 60 receives the position of the shift lever from the shift position sensor 61, and controls the transmission and / or the drive direction switching mechanism (that is, the vehicle shift control) of the vehicle based on the shift position sensor 61. ).

The navigation ECU 70 includes a GPS receiver 71 that receives GPS signals for detecting the "latitude and longitude" of the place where the vehicle is located, a map database 72 that stores map information, and a touch panel (touch panel display) 73. It is equipped with. The navigation ECU 70 performs various arithmetic processes based on the latitude and longitude of the place where the vehicle is located, map information, and the like, and causes the touch panel 73 to display the position of the vehicle on the map. Hereinafter, the display mode when the “map and the position of the vehicle on the map” is displayed on the touch panel 73 is referred to as a “navigation mode”. The touch panel 73 is also referred to as a "display device" or a "display unit" for convenience.

The display mode of the touch panel 73 includes a parking support mode in addition to the navigation mode. The parking support mode is a display mode when parking support control is performed. A home button (not shown) is provided in the vicinity of the touch panel 73. When the display mode is the parking support mode, the display mode is switched to the navigation mode when the home button is pressed. When the display mode is the navigation mode, the display mode is switched to the parking support mode when the home button is pressed.

A plurality of first ultrasonic sensors 81a to 81d, a plurality of second ultrasonic sensors 82a to 82h, a plurality of cameras 83a to 83d, a parking support switch 84, and a speaker 85 are connected to the parking support ECU 10. The plurality of first ultrasonic sensors 81a to 81d are collectively referred to as "first ultrasonic sensors 81". The plurality of second ultrasonic sensors 82a to 82d are collectively referred to as "second ultrasonic sensors 82". The plurality of cameras 83a to 83d are collectively referred to as "camera 83".

Each of the first ultrasonic sensor 81 and the second ultrasonic sensor 82 (hereinafter, collectively referred to as “ultrasonic sensor” when it is not necessary to distinguish between them) transmits ultrasonic waves in a pulse shape to a predetermined range. And receive the reflected wave reflected by the object. Based on the time from transmission to reception of ultrasonic waves, the ultrasonic sensor detects the distance (reflection point distance) between the "reflection point, which is a point on the object on which the transmitted ultrasonic waves are reflected" and the ultrasonic sensor. can do.

The first ultrasonic sensor 81 is used to detect an object located at a position relatively distant from the vehicle as compared with the second ultrasonic sensor 82. As shown in FIG. 2, a first ultrasonic sensor 81a is provided at the right end of the front bumper 201 of the vehicle body 200. A first ultrasonic sensor 81b is provided at the left end of the front bumper 201 of the vehicle body 200. A first ultrasonic sensor 81c is provided at the right end of the rear bumper 202 of the vehicle body 200. A first ultrasonic sensor 81d is provided at the left end of the rear bumper 202 of the vehicle body 200.

The second ultrasonic sensor 82 is used to detect an object that is relatively close to the vehicle. As shown in FIG. 2, four second ultrasonic sensors 82a to 82d are provided on the front bumper 201 at intervals in the vehicle width direction. Further, four second ultrasonic sensors 82e to 82h are provided on the rear bumper 202 at intervals in the vehicle width direction.

The camera 83 is, for example, a digital camera having a built-in CCD (charge coupled device) or CIS (CMOS image sensor) image sensor. The camera 83 outputs image data at a predetermined frame rate (that is, every time a predetermined time elapses). The optical axis of the camera 83 is set diagonally downward from the vehicle body. Therefore, the camera 83 captures the surrounding conditions of the vehicle (including the positions and shapes of the lane markings, objects, parkable areas, etc.) to be confirmed when the vehicle is parked, and outputs the image data to the parking support ECU 10. It is designed to do.

As shown in FIG. 2, the camera 83a is provided at a substantially central portion of the front bumper 201 in the vehicle width direction. The camera 83b is provided on the wall of the rear trunk 203 at the rear of the vehicle body 200. The camera 83c is provided on the right door mirror 204. The camera 83d is provided on the left door mirror 205. Hereinafter, the image data obtained by imaging with the cameras 83a, 83b, 83c and 83d are referred to as "front image data", "rear image data", "right side image data" and "left side image data", respectively. There is.

The parking support ECU 10 receives a detection signal from each of the first ultrasonic sensor 81 and the second ultrasonic sensor 82 each time a predetermined time (hereinafter, also referred to as “first predetermined time”) elapses. .. The parking support ECU 10 plots the information contained in the detection signal (that is, the reflection point and the reflection point distance) on the two-dimensional map. This two-dimensional map is a plan view with the position of the vehicle as the origin, the traveling direction of the vehicle as the X axis, and the left direction of the vehicle as the Y axis. The position of the vehicle is the central position of the left front wheel and the right front wheel in a plan view. The position of the vehicle is another specific position on the vehicle (eg, the center position of the left and right rear wheels in plan view, the position of the center of gravity of the vehicle in plan view, or the geometric center position of the vehicle in plan view). It may be.

Further, the parking support ECU 10 acquires image data from each of the cameras 83 each time the first predetermined time elapses. The parking support ECU 10 detects an object around the vehicle by analyzing image data from each of the cameras 83, and specifies the position (distance and direction) and shape of the object with respect to the vehicle. Further, the parking support ECU 10 detects a lane marking (for example, including a lane marking for dividing the parking area) drawn on the road surface around the vehicle in the image data from each of the cameras 83, and the parking support ECU 10 for the vehicle of the lane marking. Specify the position (distance and orientation) and shape. The parking support ECU 10 draws an object and a lane marking identified (detected) based on image data on the above-mentioned two-dimensional map.

The parking support ECU 10 detects an object existing around the vehicle (within a predetermined distance range from the position of the vehicle) based on the information shown on the two-dimensional map, and at the same time, "an object exists" around the vehicle. "Area not to be detected" is detected. When the area where the object does not exist is an area having a size and shape that allows the vehicle to park with a margin, the parking support ECU 10 determines the area as a "candidate area". For example, if the lane marking is not detected, the candidate area is the "area where no object exists". On the other hand, when the lane marking is detected, the candidate region is a rectangular region that does not straddle the lane marking in the "region where no object exists".

The "first ultrasonic sensor 81, the second ultrasonic sensor 82, and the camera 83" are collectively referred to as "vehicle peripheral sensors (or information acquisition means)". Further, the camera 83 may be referred to as an "imaging unit (imaging means)". "Information about objects existing around the vehicle (position and shape, etc.) and information about the lane markings on the road surface around the vehicle (position, shape, etc.)" obtained based on the signal from the vehicle peripheral sensor , Also called "vehicle peripheral information".

The parking support switch 84 is a switch that is operated (pressed / pressed) when the driver requests parking support from the parking support ECU 10 (when generating a parking support request described later). Here, the parking support control is a well-known control that supports the driving operation by the driver when the vehicle is parked.

The speaker 85 generates voice when receiving an utterance command from the parking support ECU 10.

(Details of parking support control)
The parking support ECU 10 switches the switch mode to the parallel parking mode, the parallel parking mode, and the non-setting mode in order each time the parking support switch 84 is pressed.

The parallel parking mode is a mode for providing parking support when vehicles are parked in parallel. Parallel parking is synonymous with parking a vehicle in a direction perpendicular to the traveling direction of the travel path. More specifically, in parallel parking, one side of the vehicle (own vehicle) faces one side of the other vehicle (first other vehicle) and the other side of the own vehicle is another other vehicle (second). The front-rear axis that faces one side surface of the other vehicle and passes through the center of the vehicle width direction of the own vehicle and the front-rear axis that passes through the center of each of the first and second other vehicles in the vehicle width direction of each other. Park your vehicle so that it is parallel. In parallel parking, the vehicle is oriented in a direction perpendicular to the traveling direction of the road, and at least one of the left and right sides of the vehicle is parallel to the "white line, wall, fence, guardrail, etc." Including parking.

The parallel parking mode is a mode for providing parking support when parallel parking the own vehicle. Parallel parking is synonymous with parking the own vehicle so that the own vehicle is parallel to the traveling direction of the traveling path. More specifically, in parallel parking, the front end of the own vehicle faces the rear end (or front end) of the first other vehicle, and the rear end of the own vehicle faces the front end (or rear) of the second other vehicle. The front-rear direction axis that faces the end) and passes through the center of the vehicle width direction of the own vehicle and the front-rear direction axis line that passes through the center of each of the first and second other vehicles in the vehicle width direction are substantially parallel. Park your vehicle so that it is located on the line.

As described below, the parking support ECU 10 monitors the operation of the parking support switch 84, the position of the shift lever, and the state of the vehicle, and determines whether or not a parking support request has occurred. Parking assistance requests include parallel parking assistance requests and parallel parking assistance requests.

When a parallel parking support request is generated, the parking support ECU 10 executes parking support control for the vehicle to park the vehicle in a predetermined area (target area described later) in the parallel parking candidate area. When a parallel parking support request is generated, the parking support ECU 10 executes parking support control for the vehicle to park the vehicle in a predetermined area (target area) in the parallel parking candidate area.

When it is determined that the above parking support request has occurred, the parking support ECU 10 determines the area occupied by the vehicle body of the vehicle as the target area when it is assumed that the vehicle is parked in the detected candidate area. .. Further, the parking support ECU 10 sets the position of the vehicle when the vehicle is parked in the target area as the target position.

The parking support ECU 10 can store the determined target area in the non-volatile memory 10d according to the operation of the driver. The parking support ECU 10 acquires the current position information of the vehicle from the navigation ECU 70 and stores it in the non-volatile memory 10d in a format in which the "vehicle position information" and the "information about the target area" are associated with each other. Hereinafter, the information stored in this way is referred to as "target area information". The information regarding the target area is information on a rectangle that serves as a target area, and is, for example, position information on the vertices of the rectangle.

The parking support ECU 10 determines a route for moving the vehicle position from the current vehicle position (current position) to the target position as the target route. The target route is a route in which the vehicle body can move the vehicle from the current position to the target position while keeping an interval of a predetermined distance or more with respect to an object (another vehicle, a curb, a guardrail, etc.). The target route can be calculated by one of various known calculation methods (for example, the method proposed in Japanese Patent Application Laid-Open No. 2015-3565).

The parking support ECU 10 executes parking support control so that the vehicle moves along the target route. The parking support ECU 10 executes shift control, steering angle automatic control, driving force control, and braking force control as parking support control. Therefore, when the target route is determined, the parking support ECU 10 determines the "direction in which the vehicle should be moved (specifically, the position of the shift lever), the steering angle pattern, and the steering angle pattern for moving the vehicle along the target route. Determine the "speed pattern".

The parking support ECU 10 transmits a shift control command to the SBW / ECU 60 via the CAN 90 according to the determined position of the shift lever. When the SBW / ECU 60 receives the shift control command from the parking support ECU 10, the SBW / ECU 60 changes the position of the shift lever to the position specified by the shift control command (that is, executes the shift control).

The steering angle pattern is data in which the position of the vehicle on the target route and the steering angle are associated with each other. The parking support ECU 10 transmits a steering command (including a target steering angle) to the EPS / ECU 40 via the CAN 90 according to the determined steering angle pattern. When the EPS / ECU 40 receives a steering command from the parking support ECU 10, the EPS / ECU 40 drives the assist motor 41 based on the steering torque specified by the steering command to match the actual steering angle with the target steering angle (that is,). Executes automatic steering angle control.).

The speed pattern is data in which the position of the vehicle on the target route and the traveling speed are associated with each other, and represents a change in the traveling speed when the vehicle travels on the target route. The parking support ECU 10 transmits a driving force control command to the engine ECU 20 via the CAN 90 according to the determined speed pattern. When the engine ECU 20 receives the driving force control command from the parking support ECU 10, the engine ECU 20 controls the engine actuator 21 in response to the driving force control command (that is, executes the driving force control). Further, the parking support ECU 10 transmits a braking force control command to the brake ECU 30 via the CAN 90 according to the determined speed pattern. When the brake ECU 30 receives the braking force control command from the parking support ECU 10, the brake ECU 30 controls the brake actuator 31 in response to the braking force control command (that is, executes the braking force control).

As described above, the parking support ECU 10 is functionally "target area determination unit 10h for determining the target area", "target area storage unit (nonvolatile memory 10d) 10i for storing the target area", and "target route". It has a "route determination unit 10j" and a "parking support unit 10k for executing parking support control".

(Screen display)
Next, the screen of the touch panel 73 (hereinafter, simply referred to as “screen”) when the display mode is the parking support mode will be described. As shown in FIG. 3, the screen has a first display area 301, a second display area 302, and a third display area 303. The first display area 301 is the area on the left side when the screen is divided into two left and right. The second display area 302 is a part of the right side area when the screen is divided into two left and right as described above, and is the upper area when the right side area is divided into two upper and lower areas. The third display area 303 is a lower area when the above right area is divided into upper and lower parts.

(Image generation)
When the display mode is the parking support mode, the parking support ECU 10 displays the "viewpoint image" in the first display area 301 and displays the "traveling direction image" in the second display area 302. Hereinafter, a method for generating these images will be briefly described.

The parking support ECU 10 is based on the image data (front image data, rear image data, right side image data, left side image data) acquired from each of the cameras 83, and the vehicle and the peripheral area of the vehicle from a set virtual viewpoint. An image (hereinafter referred to as a "viewpoint image") is generated. A method for generating such a viewpoint image is well known (see Japanese Patent Application Laid-Open No. 2012-217000, Japanese Patent Application Laid-Open No. 2013-021468, and the like). Therefore, an example of a method for generating a viewpoint image will be briefly described below.

The parking support ECU 10 generates three-dimensional data about the peripheral region of the vehicle based on the image data. The parking support ECU 10 sets a virtual viewpoint in the above three-dimensional data. The virtual viewpoint is defined by the viewpoint position and the viewing direction. Then, the parking support ECU 10 can obtain a viewpoint image showing the state of viewing the vehicle and the peripheral region of the vehicle by cutting out an image based on the set virtual viewpoint from the above three-dimensional data. For example, the viewpoint position of the virtual viewpoint is set to a position separated by a predetermined distance in the direction directly upward from the center position of the vehicle body in the plan view. The viewing direction of the virtual viewpoint is set in the direction directly downward from the above viewpoint position toward the vehicle. Therefore, the viewpoint image is an image that looks down on the vehicle from a position directly above the vehicle. Such a viewpoint image is also called a "overhead image".

Further, the parking support ECU 10 generates a traveling direction image displaying a region in the traveling direction of the vehicle based on the front image data and the rear image data. While the vehicle is moving backward (that is, when the position of the shift lever detected by the shift position sensor 61 is "R"), the parking support ECU 10 generates a traveling direction image showing the rear region of the vehicle based on the rear image data. do. On the other hand, while the vehicle is moving forward (that is, when the position of the shift lever detected by the shift position sensor 61 is "D"), the parking support ECU 10 is a traveling direction image showing the front region of the vehicle based on the front image data. To generate.

(Actual operation of parallel parking support)
Next, a specific operation when executing parking support control for a parallel parking support request will be described. The CPU 10a of the parking support ECU 10 (hereinafter, simply referred to as “CPU”) executes each of the routines shown in FIGS. 4 to 6 each time the “second predetermined time longer than the first predetermined time” elapses. It is designed to do. Further, the CPU acquires vehicle peripheral information from the vehicle peripheral sensor by executing a routine (not shown) every time the first predetermined time elapses. Further, the CPU updates the above-mentioned two-dimensional map based on the vehicle peripheral information by executing a routine (not shown) every time the first predetermined time elapses.

At a predetermined timing, the CPU starts processing from step 400 in FIG. 4, proceeds to step 405, and the value of the parking support flag (hereinafter, simply referred to as “support flag”) F is “0”. Judge whether or not. The support flag F indicates that a parking support request (either a parallel parking support request or a parallel parking support request) has not occurred when the value is "0", and parking when the value is "1". Indicates that a request for assistance has occurred. The value of the support flag F is set to "0" in the initialization routine executed by the CPU when the ignition switch (not shown) is changed from OFF to ON. Further, the value of the support flag F is also set to "0" in step 630 of FIG. 6, which will be described later.

Now, assuming that the value of the support flag F is "0", the CPU determines "Yes" in step 405 and proceeds to step 410, and the parallel parking mode is selected by a predetermined operation of the parking support switch 84. Determine if it is. If the parallel parking mode is not selected, the CPU determines "No" in step 410, proceeds directly to step 495, and temporarily ends this routine.

Assuming that the parallel parking mode is selected, the CPU determines "Yes" in step 410, proceeds to step 415, and determines whether or not the predetermined execution conditions described below are satisfied. The execution condition is satisfied when all of the following conditions 1 to 4 are satisfied.
(Condition 1): Neither the parallel parking support request nor the parallel parking support request has occurred.
(Condition 2): The current position of the shift lever is the forward position (D).
(Condition 3): The vehicle speed is a predetermined vehicle speed (for example, 30 [km / h]) or less.
(Condition 4): An area (candidate area) of a size that allows vehicles to park in parallel has been detected.

If the execution condition is not satisfied, the CPU determines "No" in step 415, proceeds directly to step 495, and temporarily ends this routine.

Now, assuming that the execution condition is satisfied, the CPU determines "Yes" in step 415, performs the processes of steps 420 to 435 described below in order, and proceeds to step 440.

Step 420: The CPU sets the value of the support flag F to "1".
Step 425: The CPU changes the screen display mode from the navigation mode to the parking support mode. The CPU displays the bird's-eye view image 701 in the first display area 301 and displays the traveling direction image 702 in the second display area 302 (see, for example, FIG. 7).
Step 430: The CPU determines the target area by executing the “target area determination routine” described later shown in FIG.
Step 435: As shown in FIG. 7, the CPU displays the target area 710 determined in step 430 on the bird's-eye view image 701 of the first display area 301.

When the CPU proceeds to step 440, as shown in FIG. 7, the registration button 711 is displayed at the upper part of the bird's-eye view image 701, and the message 712 regarding the registration of the target area is displayed in the third display area 303. Then, the CPU determines whether or not the target area 710 has been registered (that is, whether or not the registration button 711 has been pressed).

When there is a registration operation of the target area, the CPU determines "Yes" in the step 440 and proceeds to step 445, and the current position information of the vehicle 100 (the current position of the vehicle 100 acquired via the navigation ECU 70). The position information) and the information about the target area 710 are associated with each other and stored in the non-volatile memory 10d as the target area information. As a result, the CPU can read the target area information from the non-volatile memory 10d and execute the parking support control at the time of executing the parking support from the next time onward. After that, the CPU sequentially performs the processes of step 450 and step 455 described below. Then, the CPU proceeds to step 495 and temporarily ends this routine.

Step 450: The CPU sets the position of the vehicle 100 when the vehicle 100 is parked in the target area 710 as the target position. Then, the CPU determines a route for moving the position of the vehicle 100 from the current position to the target position as the target route. Further, the CPU determines the "direction in which the vehicle 100 should be moved (specifically, the position of the shift lever), the steering angle pattern, and the speed pattern" for moving the vehicle 100 along the target path.

Step 455: The CPU executes parking support control. Specifically, the CPU performs shift control according to the direction in which the vehicle 100 should be moved. Further, the CPU executes steering angle automatic control by transmitting a steering command (target steering angle) to the EPS / ECU 40 according to the steering angle pattern. Further, the CPU executes the driving force control by transmitting the driving force control command to the engine ECU 20 according to the speed pattern. The CPU executes braking force control by transmitting a braking force control command to the brake ECU 30 according to a speed pattern. Therefore, the driver can move the vehicle 100 to the target area 710 without operating the shift lever, the steering wheel, the accelerator pedal, and the brake pedal by himself / herself. When the driver requests a large braking force by operating the brake pedal at the time when step 455 is executed, the brake actuator 31 is controlled so that the braking force corresponding to the request is generated. Further, in that case, the driving force of the vehicle 100 is set to "0" by controlling the engine actuator 21.

If the registration operation of the target area 710 is not performed in the predetermined period when the CPU proceeds to step 440, the CPU determines "No" in the step 440 and steps as described above. The processes of 450 and step 455 are performed in order. After that, the CPU proceeds to step 495 and temporarily ends this routine.

Further, if the value of the support flag F is not "0" at the time when the CPU executes the process of step 405, the CPU determines "No" in the step 405 and proceeds to step 455 to continue the parking support control. do. After that, the CPU directly proceeds to step 495 and temporarily ends this routine.

Next, the “target area determination routine” executed by the CPU will be described with reference to the flowchart shown in FIG. As described above, when the CPU proceeds to step 430 of the routine of FIG. 4, the processing of the routine shown in FIG. 5 starts from step 500 and proceeds to step 505. In step 505, the CPU determines whether or not the target area information is currently stored in the non-volatile memory 10d (that is, whether or not the target area information registered in advance in the non-volatile memory 10d exists). do.

Here, it is assumed that the target area 810 in the garage 851 of the home 850 is registered in the non-volatile memory 10d in advance as the target area information (see FIG. 8). Further, it is assumed that the vehicle 100 is stopped in front of the garage 851 of the home 850, and the driver is requesting parking assistance (parallel parking support) in front of the garage 851 of the home 850. In this case, the CPU determines "Yes" in step 505 and proceeds to step 510 to determine whether or not the predetermined position condition is satisfied.

The position condition is satisfied when the current position of the vehicle 100 is in the vicinity of the position information of the "target area information stored in advance in the non-volatile memory 10d". According to the above assumption, the positional condition is satisfied. Therefore, the CPU determines "Yes" in step 510, proceeds to step 515, and reads out "information about the target area" of the target area information from the non-volatile memory 10d. As shown in FIG. 8, the CPU causes the target area 810 to be displayed on the bird's-eye view image 801 based on the information regarding the target area.

Next, in step 520, the CPU determines whether or not an obstacle exists in the target area 810 based on the vehicle peripheral information. If there is no obstacle in the target area 810, the CPU determines "No" in step 520, proceeds to step 550, and determines the read target area as the final target area. After that, the CPU proceeds to step 435 of FIG. 4 via step 595.

Now, it is assumed that an obstacle (for example, a bicycle) 820 exists in the target area 810. In this case, the CPU determines "Yes" in step 520 and proceeds to step 525 to determine whether or not a plurality of target area candidates can be set in the candidate area.

Specifically, the CPU determines whether or not both the "first target area candidate" and the "second target area candidate" described below can be set in the candidate area. Now, the CPU recognizes a region in the garage 851 where no object exists (that is, an region excluding the obstacle 820) as a candidate region based on the vehicle peripheral information. Therefore, the CPU determines whether or not the first target area candidate and the second target area candidate can be set in this candidate area. The first target region candidate is a region different from the target region 810 described above, and is a region separated by a first distance d1 from the detected obstacle. The first distance d1 is a "distance (margin) between the vehicle 100 and an object around the vehicle 100" that is normally used when the vehicle 100 is parked in the target area. The second target region candidate is a region different from the target region 810 described above, and is a region separated by a second distance d2 from the detected obstacle. The second distance d2 is smaller than the first distance d1. Therefore, the second target area candidate is an area set at a position closer to the target area 810 stored in advance than the target area normally set in the candidate area.

For example, if the candidate area in the garage 851 is narrow and only one target area candidate (for example, a second target area candidate) can be set in the candidate area, the CPU determines "No" in step 525. Then, the process proceeds to step 545, and the second target area candidate is determined as the final target area. After that, the CPU proceeds to step 435 of FIG. 4 via step 595.

Now, as shown in FIG. 8, both the first target area candidate 831 and the second target area candidate 832 can be set in the candidate area (the area where no object exists in the garage 851). In this case, the CPU determines "Yes" in step 525 and proceeds to step 530, superimposing the first target area candidate 831 and the second target area candidate 832 on the bird's-eye view image 801 of the first display area 301. Display. Then, the CPU displays the decision button 860 on the upper part of the bird's-eye view image 801. Further, the CPU causes the third display area 303 to display a message 840 requesting the driver to select the target area. At this time, the CPU may display the second target area candidate 832 as a recommended area on the bird's-eye view image 801 in a format emphasized by the first target area candidate 831. For example, as shown in FIG. 8, the CPU may display the outline of the second target area candidate 832 in bold.

Next, in step 535, the CPU determines whether or not the driver has completed the selection of the target area. The driver can complete the selection of the target area by selecting either the first target area candidate 831 or the second target area candidate 832 on the bird's-eye view image 801 and pressing the enter button 860. If the driver has not completed the selection of the target area, the CPU determines "No" in step 535, returns to step 530, and returns to the first target area candidate 831 and the second target on the bird's-eye view image 801. The display of the area candidate 832 is continued.

When the driver completes the selection of the target area, the CPU determines "Yes" in step 535, proceeds to step 540, and determines the target area candidate selected by the driver as the final target area. .. After that, the CPU proceeds to step 435 of FIG. 4 via step 595.

If the target area information registered in advance in the non-volatile memory 10d does not exist at the time when the CPU advances to step 505, the CPU determines “No” in the step 505 and proceeds to step 545. Further, if the position condition is not satisfied when the CPU advances to step 510, the CPU determines "No" in the step 510 and proceeds to step 545. When the CPU proceeds to step 545, the CPU determines a target area in the candidate area. After that, the CPU proceeds to step 435 of FIG. 4 via step 595.

Further, the CPU executes the "flag setting routine" shown in FIG. 6 every time the second predetermined time elapses. Therefore, at a predetermined timing, the CPU starts the process from step 600 in FIG. 6 and proceeds to step 610 to determine whether or not the value of the support flag F is “1”. If the value of the support flag F is not "1", the CPU determines "No" in step 610, directly proceeds to step 695, and temporarily ends this routine.

On the other hand, when the value of the support flag F is "1", the CPU determines "Yes" in step 610 and proceeds to step 620, and at least one of the conditions 5 and 6 described below is satisfied. Determine if it is.
(Condition 5) The ignition switch is OFF.
(Condition 6) Immediately after the parking support control is completed. The parking support control ends when the vehicle moves to the target position, which is the position at the time of parking completion. The CPU may end the parking support control even when the "specific operation for the parking support switch 84" for stopping the parking support control is performed.

If neither of the above conditions 5 and 6 is satisfied, the CPU determines "No" in step 620, proceeds to step 695, and temporarily ends this routine.

On the other hand, when at least one of the above conditions 5 and 6 is satisfied, the CPU determines "Yes" in step 620, proceeds to step 630, and sets the value of the support flag F to "0". .. As a result, when the CPU proceeds to step 405 of FIG. 4, it is determined as "Yes". After that, the CPU proceeds to step 695 and temporarily ends this routine.

The above is the specific operation of this implementation device. When the obstacle 820 exists in the target area 810 stored in advance, the present implementation device displays a plurality of target area candidates (first target area candidate 831 and second target area candidate 832) on the bird's-eye view image 801. Can be made to. Therefore, the driver can select a desired region as the final target region from the plurality of target region candidates. This allows the driver to park the vehicle in the desired area.

When the driver registers the target area 810 as the target area information in advance, it is considered that the driver has a clear intention to park in the target area 810. The present implementation device displays the second target area candidate 832, which is an area closer to the target area 810, on the bird's-eye view image 801. When the driver wants to park the vehicle as close as possible to the target area 810, the driver can select the second target area candidate 832 as the target area. Therefore, the present implementation device can park the vehicle by reflecting the original intention of the driver. On the other hand, when the vehicle may be parked at any position in the candidate area, the driver can select the first target area candidate 831 as the final target area.

The present invention is not limited to the above embodiment, and various modifications can be adopted within the scope of the present invention.

The routines of FIGS. 4 to 6 can also be applied to parking support control for parallel parking support requests. In this case, when the CPU proceeds to step 410 in FIG. 4, it is determined whether or not the parallel parking mode is selected by a predetermined operation of the parking support switch 84. Further, the condition 4 of the execution condition of step 415 in FIG. 4 can be replaced with the following condition 7.
(Condition 7): An area (candidate area) of a size that allows the vehicle to parallel park is detected.

The second distance d2 described above may be adjustable / selectable by the driver. For example, it may be configured so that the driver can select the size of the second distance d2 on the touch panel 73.

When the CPU can set three or more target area candidates having different distances from the obstacle in the candidate area, the CPU may display the three or more target area candidates on the bird's-eye view image in step 530.

As shown in FIG. 9, the CPU may display the cursor 911 for adjusting the position of the target area 901 in step 435 of FIG. The driver can determine the final position of the target area by adjusting the position of the target area 901 using the cursor 911 and pressing the decision button 912.

The execution timing of the step (step 440 and step 445) of FIG. 4 regarding the registration of the target area information is not limited to the above example. Steps 440 and 445 may be executed at any timing as long as the target area is determined or later. For example, the target area information may be registered when the parking support control is completed (that is, when the vehicle reaches the target position).

The display relating to parking support may be displayed on the display 51 in place of or in addition to the touch panel 73. In this case, the operation of registering the target area and selecting the target area may be performed by an operating means (button or switch (not shown) or the like provided in the vicinity of the steering wheel.

The parking support ECU 10 may be configured to execute only the steering angle automatic control as the parking support control. In this case, when the target route is determined, the parking support ECU 10 displays the guidance (position of the shift lever) related to the parking support on the touch panel 73. The driver changes the position of the shift lever according to the guidance related to parking assistance. When the driver changes the position of the shift lever to the guided position, the parking support ECU 10 starts automatic steering angle control. The driver moves the vehicle by operating the brake pedal and the accelerator pedal. When the vehicle reaches the target position, the parking support ECU 10 displays a message on the screen notifying the driver to stop the vehicle, and causes the speaker 85 to speak the message. When the driver operates the brake pedal to stop the vehicle, the parking support ECU 10 ends the parking support control (automatic steering angle control) (that is, the parking support control is completed).

10 ... Parking support ECU, 20 ... Engine ECU, 30 ... Brake ECU, 40 ... EPS / ECU, 50 ... Meter ECU, 60 ... SBW / ECU, 70 ... Navigation ECU, 81a-81d ... First ultrasonic sensor, 82a- 82h ... Second ultrasonic sensor, 83a-83d ... Camera, 84 ... Parking support switch, 85 ... Speaker.

Claims (2)

Information acquisition that includes at least an imaging means for acquiring image data around the vehicle, and acquires vehicle peripheral information including information about objects existing around the vehicle and information about lane markings on the road surface around the vehicle. Means and
A target area determining means for determining a target area, which is an area occupied by the vehicle when the parking of the vehicle is completed, based on the vehicle peripheral information.
A target area storage means for storing target area information including information on the target area, and a target area storage means.
A route determining means for determining a route capable of moving the vehicle from the current position of the vehicle to the target area as a target route, and a route determining means.
A parking support means for executing parking support control including automatic steering angle control of the vehicle for moving the vehicle along the determined target route.
A display device capable of displaying an image to the occupants of the vehicle,
An operating means that enables the driver to operate the display device on the image, and
When there is a registration operation of the target area, a means for associating the position information of the vehicle at the time of the registration operation with the information regarding the target area and storing the target area information in the target area storage means.
Equipped with
When the target area determination means is requested to execute the parking support control, the target area determination means is used.
When the target area information is not stored in advance in the target area storage means, or when the position of the vehicle at the present time is not in the vicinity of the target area stored in the target area storage means, the vehicle peripheral information. Based on the above, a region having a size and shape that allows the vehicle to park with a margin and in which an object does not exist is detected as a candidate region, and the detected candidate region of the vehicle is detected. It is configured to determine a predetermined area occupied by the vehicle as the target area when parking is completed.
Further, when the target area determination means is requested to execute the parking support control, the target area determination means is required.
When the target area information is stored in advance in the target area storage means and the current position of the vehicle is in the vicinity of the target area stored in the target area storage means, the vehicle. Based on the peripheral information, it is determined whether or not an obstacle exists in the target area stored in the target area storage means, and the target area is stored in the target area storage means. When it is determined that an obstacle exists, a plurality of target area candidates having different distances from the obstacle are stored in the target area storage means. The target area is detected when the target area is determined. When it can be set in the area excluding the obstacle from the candidate area
It is a viewpoint image generated based on the image data acquired by the image pickup means, and the viewpoint image of the vehicle and the surroundings of the vehicle is displayed on the display device, and the distances from the obstacles are mutual. Displaying the plurality of different target area candidates on the viewpoint image,
It is configured to determine the final target area from the plurality of target area candidates according to the operation of the operation means by the driver .
Parking support device. In the parking support device according to claim 1,
When the target area determination means is requested to execute the parking support control, the target area determination means is used.
When the target area information is stored in advance in the target area storage means and the current position of the vehicle is in the vicinity of the target area stored in the target area storage means, the target area is stored. When it is determined that the obstacle exists in the target area stored in the storage means, the candidate area detected when the target area stored in the target area storage means is determined is the candidate area. When only one target area candidate can be set in the area excluding obstacles, the one target area candidate is determined as the final target area.
Was configured to
Parking support device.

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