JP7156069B2 - parking assist device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a parking assistance device that assists parking of a welfare vehicle.

A parking assistance device has been proposed that assists parking of a vehicle such as an automobile (see, for example, Patent Literature 1). The parking assistance device described in Patent Document 1 has a camera that captures an image behind the vehicle and a display that displays the image captured by the camera. In this device, when the vehicle is parked, an image captured by a camera and an expected movement trajectory of the vehicle are displayed on a display inside the vehicle.

2. Description of the Related Art In recent years, so-called welfare vehicles have been put into practical use, which have auxiliary devices for assisting persons with lower limbs (elderly persons, persons with disabilities, etc.) in getting in and out of vehicles. Such auxiliary devices include a device that rotates and slides the seat itself to enable boarding and alighting from the side of the vehicle, and a ramp for boarding and alighting installed at the rear of the vehicle that allows the occupant with the wheelchair to board and alight from the rear of the vehicle. and the like.

Japanese Patent Application Laid-Open No. 2005-132180

A welfare vehicle requires a larger space around the vehicle for boarding and alighting than an ordinary vehicle that does not have an assisting device, because the assisting device is used for boarding and alighting. Conventional parking assist devices are adapted to regular vehicles that do not have assist devices. Therefore, even if such a parking assist device is provided in a welfare vehicle, the parking assist device becomes difficult to use, and it can be said that it is difficult to park the vehicle so as to realize smooth boarding and exiting using the assist device. .

SUMMARY OF THE INVENTION It is an object of the present invention to provide a parking assistance device that facilitates parking of a welfare vehicle.

A parking assist device for solving the above problems is a parking assist device for assisting parking of a welfare vehicle having an assist device for assisting getting on and off, wherein a boarding and alighting space for getting on and off using the assist device outside the welfare vehicle is provided. and an execution unit that executes parking assistance for the welfare vehicle based on the boarding/alighting space stored in the storage unit.

According to the above configuration, it is possible to assist the parking of the welfare vehicle while considering the boarding/alighting space outside the welfare vehicle. Therefore, through the parking assistance, it is possible to easily park the welfare vehicle while securing the boarding/alighting space.

In the parking assistance device, the execution unit executes automatic parking control for automatically controlling a steering angle of the welfare vehicle as the parking assistance.
According to the above configuration, the assistive vehicle can be automatically parked easily while securing the boarding/alighting space.

In the above parking assistance device, the welfare vehicle has a measurement unit that measures a parking space for parking the welfare vehicle, and the execution unit measures the parking space measured by the measurement unit. When the boarding/alighting space fits, the automatic parking control is executed so that the welfare vehicle and the boarding/alighting space fit in the parking space, and the welfare vehicle and the boarding/alighting space are placed in the parking space measured by the measuring unit. is not accommodated, the automatic parking control is preferably executed so that the welfare vehicle is accommodated in the parking space.

According to the above configuration, when there is a sufficiently large parking space, it is possible to automatically park the welfare vehicle while securing the boarding/alighting space. Moreover, even if the parking space is too small to secure a space for boarding and alighting, automatic parking can be performed in such a manner that the welfare vehicle fits in the parking space. Thus, according to the above configuration, automatic parking of the welfare vehicle can be executed with a high degree of freedom.

In the above parking assistance device, the welfare vehicle has a photographing unit for photographing an image around the welfare vehicle and a display unit for displaying the image photographed by the photographing unit, and the execution unit includes the As parking assistance, the boarding/alighting space stored in the storage unit is displayed on the display unit together with the image captured by the image capturing unit.

According to the above configuration, the welfare vehicle can be parked while visually confirming the image around the welfare vehicle and the boarding/alighting space displayed on the display unit. Therefore, it is possible to easily park the welfare vehicle while giving the occupant a sense of security by confirming that the boarding/alighting space is secured.

It is preferable that the parking assistance device further includes a setting unit that variably sets the boarding/alighting space.
The size of the boarding/alighting space varies depending on the physique of the person using the assistive device to get on/off the welfare vehicle, the size of the wheelchair used by the person, and the like. In this respect, according to the above configuration, the boarding/alighting space can be set to a size required by the user, so that the welfare vehicle can be parked appropriately based on the boarding/alighting space.

ADVANTAGE OF THE INVENTION According to this invention, a welfare vehicle can be parked easily.

1 is a schematic configuration diagram of a vehicle in which a second row of seats is in a normal state to which a parking assist system of one embodiment is applied; FIG. FIG. 2 is a schematic configuration diagram when the second row seats of the vehicle are in the getting on/off state; FIG. 2 is a schematic configuration diagram showing an arrangement mode of each configuration of the parking assistance device; FIG. 2 is a block diagram showing the configuration of the parking assistance device; FIG. 4 is an explanatory diagram of a movement mode of a vehicle when parking support control is executed; A schematic diagram showing an example of the display contents of the display when the vehicle is parked. 4 is a flowchart showing the procedure for executing parking assistance control processing; The schematic diagram which shows an example of the display content of the display in the parking assistance apparatus of other embodiment.

An embodiment of the parking assistance device will be described below.
As shown in FIGS. 1 and 2, a vehicle 10 includes a driver's seat 11, a front passenger's seat 12, and a pair of second-row seats 13R and 13R spaced apart in the vehicle width direction behind the driver's seat 11 and front passenger's seat 12. It has 13L. The vehicle 10 is a welfare vehicle having an auxiliary device 20 that assists persons with lower limb disabilities (handicapped persons, elderly persons, etc.) in getting on and off the vehicle.

The auxiliary device 20 moves the second row seat 13L on the left side of the vehicle 10 when the vehicle 10 is stopped, as indicated by an arrow M1 in FIG. The auxiliary device 20 allows the second row seat 13L to be placed in a normal state (state shown in FIG. 1) in which the occupant can sit facing forward in the vehicle interior, and in a state where the occupant sits and leaves from the left side of the vehicle 10. and the boarding/alighting state (the state shown in FIG. 2). In the state of getting on and off, the front portion of the second row seat 13</b>L in the seating direction protrudes outside the vehicle 10 .

The auxiliary device 20 has an operating portion 21 for moving the second row seat 13L. The operation unit 21 has a motor as a power source, a guide mechanism for guiding the second row seat 13L (both not shown), and the like.

The vehicle 10 is provided with an operation unit 22 for operating the auxiliary device 20 . The operation unit 22 has a retraction switch 23 that is operated when the second row seat 13L is placed in the normal state, and a deployment switch 24 that is operated when the second row seat 13L is placed in the boarding/alighting state.

The auxiliary device 20 has, for example, an electronic control device (seat control device 25) mainly composed of a microcomputer. The seat control device 25 is connected to the operating portion 21 and receives output signals from the switches 23 and 24 . The seat control device 25 performs various calculations based on the output signals of the switches 23 and 24, and controls the operation of the operating section 21 based on the calculation results.

In the operation control of the operating portion 21, the operation of the operating portion 21 is stopped when one of the switches 23 and 24 is operated while the second row seat 13L is being moved by the operation of the operating portion 21. It's becoming In this embodiment, it is possible to finely adjust the position of the second row seat 13L when getting into and out of the vehicle by operating the switches 23 and 24 as described above.

The seat control device 25 has a memory 26 . The memory 26 stores the movement position (adjustment position PA) of the second-row seat 13L when the second-row seat 13L was in the getting on/off state when the auxiliary device 20 was operated last time. Then, when the deployment switch 24 is operated to put the second row seat 13L into the boarding/alighting state, the operation part 21 is operated to move the second row seat 13L to the adjustment position PA stored in the memory 26. control is executed.

The vehicle 10 of this embodiment has a parking assistance function for assisting parking.
A configuration for realizing this parking assist function will be specifically described below.
As shown in FIGS. 3 and 4, a vehicle 10 is equipped with a plurality of (12 in this embodiment) ultrasonic sensors for detecting surrounding obstacles. Specifically, clearance sonars 31 are attached to the four corners of the vehicle 10, respectively. Obstacles obliquely forward and obliquely rearward of the vehicle 10 are detected by these clearance sonars 31 . Two front sensors 32 are attached to the front portion of the vehicle 10 at intervals in the vehicle width direction. An obstacle ahead of the vehicle 10 is detected by the front sensor 32 . Further, two rear sensors 33 are attached to the rear portion of the vehicle 10 at intervals in the vehicle width direction. An obstacle behind the vehicle 10 is detected by the rear sensor 33 . Two side sensors 34 in total are attached to both sides of the vehicle 10 at intervals in the front-rear direction. A right side sensor 34 of the vehicle 10 detects an obstacle on the right side, and a left side sensor 34 of the vehicle 10 detects an obstacle on the left side.

A parking assist switch 35 is attached near the driver's seat 11 (see FIG. 1) of the vehicle 10 . The parking assistance switch 35 is an operation switch operated by the passenger when selecting execution of automatic parking, which is one of the parking assistance functions.

A display 36 as a display unit is attached near the driver's seat 11 in the vehicle 10 . The display 36 is of a touch panel type, and various operation switches are displayed on the display 36 at appropriate timings while the vehicle 10 is being driven.

The vehicle 10 is provided with an actuator 37 for rotationally driving the steering wheel 14 (specifically, the steering shaft).
The vehicle 10 has an electronic control device (vehicle control device 30) mainly composed of a microcomputer, for example. A display 36 is connected to the vehicle control device 30 while receiving the output signal of the clearance sonar 31 and the output signals of the respective sensors 32 , 33 and 34 . The vehicle control device 30 performs various calculations based on the output signals of the sensors and the operating conditions of the operation switches, and controls the operation of the actuator 37 based on the calculation results.

The vehicle control device 30 has a memory 38 as a storage unit. The memory 38 stores a space (boarding/alighting space SB) required for boarding/alighting using the auxiliary device 20 outside the vehicle 10. It is As shown in FIG. 2, the boarding/alighting space SB includes a space SP1, which is a locus along which the second row seat 13L moves outside the vehicle 10, and a space necessary for seating and leaving the second row seat 13L outside the vehicle 10. The space SP2 includes a space SP3 necessary for the wheelchair to travel to the vicinity of the second row seat 13L in the boarding/alighting state outside the vehicle 10.例文帳に追加In this embodiment, the proper value of the space (portion sandwiched between the line L1 and the vehicle body) consisting of the spaces SP1, SP2, and SP3 is obtained in advance from the results of various experiments and simulations by the inventor, and the space is stored in the memory 38 of the vehicle control device 30 as the boarding/alighting space SB.

Next, an execution mode of parking assistance control for assisting parking of the vehicle 10 will be described.
As an example is shown in FIG. 5, the vehicle 10 is stopped at a position P1 in front of the parking space SP prior to execution of the parking support control. Then, the parking assist switch 35 is turned on at this position P1. As a result, execution of parking support control is started.

In the parking assist control, first, the parking space SP for parking the vehicle 10 is measured. Specifically, the vehicle 10 runs as follows through the operation of the steering wheel 14, the accelerator pedal, and the brake pedal by the driver. That is, as indicated by the white arrow in FIG. 5, after the vehicle 10 has passed the position P2 on the front side (the left side in FIG. 5) of the parking space SP, the steering wheel 14 is moved in the direction away from the parking space SP. is operated and the vehicle 10 is stopped at a position P3 which is slightly run. As the vehicle 10 travels, the clearance sonar 31 , the front sensor 32 , the rear sensor 33 and the side sensor 34 measure the distance to obstacles around the vehicle 10 . Based on the relationship between the position of the vehicle 10 and the above-mentioned distance at that time, two-dimensional position data of the parking space SP on the road surface plane is created and stored in the memory 38 of the vehicle control device 30 . In this embodiment, the vehicle control device 30 corresponds to a measurement unit that measures the parking space SP for parking the vehicle 10 .

Further, based on the relationship between the stop position of the vehicle 10 (position P3 in FIG. 5) and the parking space SP at this time, a travel route RT that allows the vehicle 10 to be accommodated in the parking space SP is calculated. It is stored in the memory 38 of the vehicle control device 30 . In the present embodiment, based on the results of various experiments and simulations by the inventor, a travel route RT of the vehicle 10 suitable for parking in the parking space SP from the stop position, the parking space SP, and the stop position of the vehicle 10 is determined. is obtained in advance, and the relationship is stored in the memory 38 of the vehicle control device 30 .

Then, when the measurement of the parking space SP and the calculation of the travel route RT are completed, the execution of automatic parking control for automatically controlling the steering angle of the vehicle 10 is started. In this automatic parking control, the actuation control of the actuator 37 is executed in accordance with the operation of the accelerator pedal or the brake pedal by the driver, and the steering angle of the vehicle 10 is automatically adjusted so that the vehicle 10 traces the travel route RT. controlled by Through this automatic parking control, the vehicle 10 is automatically parked in the parking space SP by operating the accelerator pedal and the brake pedal without the driver operating the steering wheel 14 .

As shown in FIG. 6, the vehicle 10 of the present embodiment displays, on the display 36, an image that looks like the vehicle 10 is looking down from the sky when the shift lever is operated to the reverse position, as one of the parking assistance functions. It has a function (so-called panorama view function). With this panoramic view function, the surrounding situation can be viewed in real time from the driver's seat 11 when the vehicle 10 is parked, so that the vehicle 10 can be easily parked.

As shown in FIGS. 3 and 4, the vehicle 10 is equipped with four cameras as imaging units for capturing images of the surroundings. Specifically, a front camera 39 for capturing a front image is provided at the front of the vehicle 10, and a rear camera 40 for capturing a rear image is provided at the rear of the vehicle 10. there is A side camera 41R for capturing a right image is provided on the right side mirror 15R of the vehicle 10, and a side camera 41L for capturing a right image is provided on the left side mirror 15L of the vehicle 10. is provided. Output signals from these cameras 39 , 40 , 41 R and 41 L are taken into the vehicle control device 30 . The images displayed on the display 36 are created through arithmetic processing of the vehicle control device 30 based on images captured by the respective cameras 39, 40, 41R, and 41L.

Further, as shown in FIG. 6, in the vehicle 10 of the present embodiment, in addition to displaying the image on the display 36, a space required for boarding/alighting using the auxiliary device 20 (a boarding/alighting space SR to be described later) is provided. ) is displayed. Specifically, the outer contour line (line L1 in FIG. 6) of the boarding/alighting space SR in the vehicle width direction is displayed on the display 36 . Thus, the vehicle 10 can be parked while visually confirming the image around the vehicle 10 displayed on the display 36 and the boarding/alighting space SR. Therefore, it is possible to easily park the vehicle 10 while confirming that the boarding/alighting space SR is secured.

Furthermore, in the present embodiment, in order to facilitate parking of the vehicle 10 with the boarding/alighting space secured, the parking support control is executed based on the boarding/alighting space SB stored in the memory 38 of the vehicle control device 30. ing.

Hereinafter, the execution procedure of the process (parking support control process) related to the parking support control of this embodiment will be described in detail with reference to FIG. The series of processes shown in the flowchart of FIG. 7 conceptually shows the execution procedure of the parking support control process, and the actual process is executed by the vehicle control device 30 as a process for each predetermined cycle. In this embodiment, the vehicle control device 30 corresponds to an execution unit that executes parking assistance for the vehicle 10 based on the boarding/alighting space SB.

As shown in FIG. 7, when the parking support switch 35 is turned on to start execution of parking support control (step S11: YES), space recognition processing for measuring the parking space SP is executed (step S12). In the space recognition process, the process of measuring the parking space SP in the manner described above is executed in accordance with the running of the vehicle 10 by the driver's operation.

Thereafter, the boarding/alighting space SR is calculated (set) based on the boarding/alighting space SB stored in the memory 38 of the vehicle control device 30 and the adjustment position PA stored in the memory 26 of the seat control device 25 (step S13). ). Specifically, the adjustment position PA stored in the memory 26 of the seat control device 25 is read, and a value obtained by correcting the boarding space SB with the adjusting position PA is calculated as the final boarding space SR. 30 memory 38.

In this embodiment, the relationship between the boarding/alighting space SB, the adjustment position PA, and the space required for boarding/alighting using the auxiliary device 20 is obtained in advance based on the results of various experiments and simulations by the inventor. , and the relationship is stored in the memory 38 of the vehicle control device 30 . In the process of step S13, from this relationship, the boarding/alighting space SR is calculated based on the boarding/alighting space SB and the adjustment position PA. Specifically, as the boarding/alighting space SR, the boarding/alighting space SB is arranged such that the width in the vehicle width direction increases as the adjustment position PA is at a position indicating that the second row seat 13L protrudes to the outside of the vehicle. A corrected value is calculated. In this embodiment, the vehicle control device 30 corresponds to the setting unit.

Here, in the vehicle 10 of this embodiment, fine adjustment of the position of the second row seat 13L in the boarding/alighting state changes the space required for boarding/alighting using the auxiliary device 20 . In the present embodiment, since the boarding/alighting space SR used in the parking assist control is corrected (variably set) according to the adjustment position PA, parking assistance for the vehicle 10 is provided in accordance with the change in the space required for boarding/alighting. be able to do it.

After that, it is determined whether or not the vehicle 10 can be parked while securing the boarding/alighting space SR (step S14). Specifically, by comparing a space obtained by adding the boarding/alighting space SR to the outer shape of the vehicle 10 in plan view with the parking space SP, it is possible to determine whether the vehicle 10 and the boarding/alighting space SR fit in the parking space SP. be judged.

If it is determined that the vehicle 10 can be parked with the boarding/alighting space SR secured (step S14: YES), the travel route RT that allows the vehicle 10 and the boarding/alighting space SR to fit within the parking space SP. is calculated, and automatic parking control is executed based on the travel route RT (step S15). As described above, according to the present embodiment, when there is a sufficiently large parking space, the automatic parking control of the vehicle 10 is executed while securing the boarding/alighting space SR.

On the other hand, if it is determined that the vehicle 10 cannot be parked with the boarding/alighting space SR secured (step S14: NO), it is determined whether parking with the boarding/alighting space SR secured is necessary. is determined (step S16). Specifically, a first switch for selecting that the boarding/alighting space SR is required and a second switch for selecting that the boarding/alighting space SR is not required are displayed on the display 36, and the operation states of these switches are displayed. is monitored.

When the first switch is operated, it is determined that parking with the boarding/alighting space SR secured is necessary (step S16: YES). Since the vehicle 10 cannot be parked, this process is temporarily terminated without executing automatic parking control. In this case, the display 36 displays a message indicating that the execution of the parking assist control is to be stopped. This prompts the driver to execute parking assistance at another location.

When the second switch is operated, it is determined that parking with the boarding/alighting space SR secured is not required (step S16: NO), and whether parking without the boarding/alighting space SR is possible is determined. is determined (step S17). Specifically, it is determined whether or not the vehicle 10 fits in the parking space SP by comparing the outer shape of the vehicle 10 in plan view with the parking space SP.

Then, when the vehicle 10 fits in the parking space SP, it is determined that parking is possible without securing the boarding/alighting space SR (step S17: YES). In this case, the travel route RT is calculated so that the vehicle 10 can be accommodated in the parking space SP without considering the boarding/alighting space SR, and automatic parking control is executed based on the travel route RT (step S18). As described above, according to the present embodiment, even when the parking space SP is so small that the boarding/alighting space SR cannot be secured, the automatic parking control can be executed in such a manner that the vehicle 10 is accommodated in the parking space SP.

If the vehicle 10 does not fit in the parking space SP (step S17: NO), it is determined that the vehicle 10 cannot even be parked in a state where the boarding/alighting space SR is not secured, and automatic parking control is not executed. This process is temporarily terminated.

As described above, according to this embodiment, the following effects can be obtained.
(1) Parking assistance for the vehicle 10 is executed based on the boarding/alighting space SB stored in the memory 38 of the vehicle control device 30 . As a result, the parking assistance for the vehicle 10 can be executed while taking into account the boarding/alighting space SR outside the vehicle 10, so that the vehicle 10 can be easily parked while the boarding/alighting space SR is secured through the parking assistance. can.

(2) Since the automatic parking control for automatically controlling the steering angle of the vehicle 10 is executed as the parking assistance for the vehicle 10, the automatic parking of the vehicle 10 can be easily performed while securing the boarding/alighting space SR. can.

(3) When there is a sufficiently large parking space SP, automatic parking control of the vehicle 10 can be executed while securing the boarding/alighting space SR. Moreover, even when the parking space SP is so small that the boarding/alighting space SR cannot be secured, the automatic parking control can be executed in such a manner that the vehicle 10 can be accommodated in the parking space SP. Thus, according to this embodiment, the automatic parking control of the vehicle 10 can be executed with a high degree of freedom.

(4) The vehicle 10 can be parked by manual operation or by automatic parking control while visually confirming the image around the vehicle 10 and the boarding/alighting space SR displayed on the display 36 . Therefore, it is possible to easily park the vehicle 10 while giving the occupant a sense of security by confirming that the boarding/alighting space SR is secured.

(5) The boarding/alighting space SR used for parking support control is variably set according to the adjustment position PA. Therefore, the parking assistance of the vehicle 10 can be performed according to the change in the space required for getting on and off due to the fine adjustment of the position of the second row seat 13L. Therefore, it is possible to more easily park the vehicle 10 while securing the boarding/alighting space SR through the parking assistance.

It should be noted that the above embodiment may be modified as follows.
- The boarding/alighting space SB stored in the memory 38 of the vehicle control device 30 and the boarding/alighting space SR corrected by the adjustment position PA may be changed (variably set) by manual operation. Here, the size of the space for getting on and off using the auxiliary device 20 varies depending on the physique of the person getting on and off the vehicle 10 using the auxiliary device 20, the size of the wheelchair used by the person, and the like. In this respect, according to the above configuration, the passenger space SB, SR can be set to a size required by the user. can be done. An example of the above configuration is shown in FIG. In the example shown in FIG. 8, in addition to displaying the vehicle 10 and the boarding/alighting space SR on the display 36, an expansion switch 51 operated when expanding the boarding/alighting space SR and a A reduction switch 52 to be operated is displayed. By operating the switches 51 and 52, the size of the boarding/alighting space SR can be changed while confirming it on the display 36. FIG.

・Instead of displaying on the display 36 the contour line L1 (see FIG. 6) on the outside of the boarding/alighting space SR in the vehicle width direction, the entire boarding/alighting space SR may be displayed on the display 36 in a hatched state. good. The mode of displaying the boarding/alighting space SR on the display 36 can be arbitrarily changed.

The driving assistance device of the above embodiment can also be applied to a vehicle having a back monitor function for displaying on the display 36 an image of the rear of the vehicle captured by the rear camera 40 . In this case, it is preferable to display both the locus of movement of the vehicle predicted from the steering angle and the locus of movement of the boarding/alighting space SR on the display 36 .

Before or at the start of execution of parking support control, whether automatic parking is to be executed with the boarding/alighting space SR secured or automatic parking without the boarding/alighting space SR secured may be selected. good. Such a configuration includes a securing switch that is operated when selecting automatic parking with the boarding/alighting space SR secured, and a securing switch that is operated when selecting automatic parking without securing the boarding/alighting space SR. This can be achieved by providing a non-secure switch.

・Automatically control accelerator operation, brake operation, and steering angle operation, forward/backward switching operation, accelerator operation, brake operation, and steering angle operation, etc. The execution mode of automatic parking control can be changed arbitrarily. Also with this configuration, by executing parking support control including automatic parking control based on the boarding/alighting space SR, the vehicle can be automatically parked easily while the boarding/alighting space SR is secured.

- One of the configuration for executing parking support control based on the boarding/alighting space SB and the configuration for displaying the boarding/alighting space SR on the display 36 may be omitted.
- The boarding/alighting space SB stored in the memory 38 of the vehicle control device 30 is not limited to the spaces SP1, SP2, and SP3, and any size of space can be set. For example, any two of the spaces SP1, SP2, and SP3 can be set as the boarding/alighting space SB, or any one of the spaces SP1, SP2, and SP3 can be set as the boarding/alighting space SB. can.

- The configuration of correcting the boarding/alighting space SB by the adjustment position PA to set the final boarding/alighting space SR may be omitted. In this case, the boarding/alighting space SB stored in the memory 38 of the vehicle control device 30 may be used as the boarding/alighting space used in each process of the parking support control process and the boarding/alighting space displayed on the display 36 .

- The parking assistance device according to the above embodiment can also be applied to a welfare vehicle having a type of auxiliary device that allows the second row seat 13L to be manually moved to the normal state or the getting on/off state.

・The parking assistance device according to the above embodiment is a welfare vehicle of a type (slope type) in which a slope for getting on and off is installed at the rear of the vehicle so that the occupant can get on and off with the wheelchair from the rear of the vehicle, and an elevator provided at the rear of the vehicle. It can also be applied to a welfare vehicle of a type (rear lift type) in which passengers can get on and off with a wheelchair by a lift. In such a configuration, the entry/exit space suitable for the type of vehicle may be stored in the storage unit of the vehicle.

DESCRIPTION OF SYMBOLS 10... Vehicle, 11... Driver's seat, 12... Passenger seat, 13R, 13L... Second-row seat, 14... Steering wheel, 15R, 15L... Side mirror, 20... Auxiliary device, 21... Operation part, 22... Operation part, 23... Storage switch, 24... Deployment switch, 25... Seat control device, 26... Memory, 30... Vehicle control device, 31... Clearance sonar, 32... Front sensor, 33... Rear sensor, 34... Side sensor, 35... Parking assistance switch , 36... display, 37... actuator, 38... memory, 39... front camera, 40... rear camera, 41R, 41L... side camera, 51... extension switch, 52... reduction switch.

Claims (6)

A parking assistance device for assisting parking of a welfare vehicle having an auxiliary device for assisting getting on and off,
The auxiliary device can be switched from a normal state in which the whole is accommodated inside the welfare vehicle to a boarding/alighting state in which a part protrudes outside the welfare vehicle,
A boarding/alighting space for boarding/alighting using the auxiliary device outside the welfare vehicle, and a portion that protrudes outside the welfare vehicle when the auxiliary device is switched from the normal state to the boarding/alighting state a storage unit that stores the boarding/ alighting space including the locus of movement ;
a photographing unit for photographing an image around the welfare vehicle;
and an execution unit that superimposes the boarding/alighting space stored in the storage unit on the image captured by the imaging unit and displays the image on a display unit. In the assist device, in the getting on and off state, a part of the seat of the welfare vehicle protrudes from the side of the welfare vehicle toward the vehicle width direction to the outside of the welfare vehicle,
The movement trajectory is a movement trajectory of a portion that protrudes outside the welfare vehicle when the seat is switched from the normal state to the getting on and off state,
The parking according to claim 1 , wherein the boarding/alighting space includes a first space that is adjacent to the locus of movement in three directions: a vehicle front side, a vehicle width direction outer side, and a vehicle rear side. support equipment. The parking assistance device according to claim 2 , wherein the boarding/alighting space includes a second space extending along the side of the welfare vehicle in a manner adjacent to the first space on the rear side of the vehicle . The execution unit executes automatic parking control for automatically controlling the steering angle of the welfare vehicle based on the boarding/alighting space stored in the storage unit. The parking assistance device according to the paragraph. The welfare vehicle has a measurement unit that measures a parking space for parking the welfare vehicle,
The execution unit
when the welfare vehicle and the boarding/alighting space fit in the parking space measured by the measuring unit, executing the automatic parking control so that the welfare vehicle and the boarding/alighting space fit in the parking space;
When the welfare vehicle and the boarding/alighting space do not fit in the parking space measured by the measuring unit, the automatic parking control is executed so that the welfare vehicle fits in the parking space . The parking assist device according to . It has a setting unit that variably sets the boarding/alighting space.
A parking assistance device according to any one of claims 1 to 5.

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