JPH10264840A - Parking guiding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely guide a vehicle along a parking route up to a parking location, even if a driving operation characteristic is different depending on the individual difference of a driver, by detecting the driving operation characteristic of the driver and correcting guiding timing of the driving operation by sound and displays according to the driving operation characteristic. SOLUTION: Estimated arrival time T to the next steering point is determined by a distance L from the present location to the next steering point and speed V (S 5) and the estimated arrival time T is compared with steering guiding timing td (S 6). This steering guiding timing td is successively corrected as follows: Maximum steering angular velocity θ max during the steering by the driver this time is stored in a memory M (S 16). This maximum steering angular velocity θ max is weighed by a guiding timing coefficient K1, steering delay time Ct is weighed by a guiding timing coefficient K2, both of the timing coefficient K1 and K2 are added up and the driving operation characteristic Δt of the driver is estimated (S 17). Next, the driving operation characteristic Δt is added to the initial value of the steering guiding timing td (S 18).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking assist device for instructing a driving operation by voice and display and guiding the driver along a parking route to a parking point.

[0002]

2. Description of the Related Art There is known a parking guidance device that calculates a route to a parking point, instructs a driver to perform a driving operation by voice and display along the parking route, and guides the driver to a parking position (for example, Japanese Patent Application Laid-Open No. HEI 9-102572). No. 6-28598).

[0003]

However, there are individual differences in driving operation, and the operation delay, operation speed, and the like differ depending on the driver. Therefore, if a parking guidance is given to a driver with a large operation delay and a low operation speed, or a driver with a too fast operation and a fast operation speed, the driver may be off the parking route.

An object of the present invention is to provide a parking guidance device that performs parking guidance in consideration of the driving operation characteristics of a driver.

[0005]

[Means for Solving the Problems]

(1) An invention according to claim 1 is an environment detecting means for detecting a surrounding environment of a vehicle, a position route calculating means for calculating a parking position and a route to the parking position based on the surrounding environment of the vehicle, and voice and display. And a guiding means for guiding the vehicle to a parking position along a parking route by instructing a driving operation. The vehicle further includes a characteristic detecting unit that detects a driving operation characteristic of the driver, and a timing correction unit that corrects an operation guidance timing of the guidance unit according to the driving operation characteristic of the driver. Calculates the parking position and parking route based on the surrounding environment of the vehicle, detects the driving operation characteristics of the driver when guiding the vehicle to the parking position along the parking route by instructing the driving operation by voice and display. Then, the guidance timing of the driving operation by voice and display is corrected according to the driving operation characteristics. (2) The parking guidance device according to claim 2, wherein the characteristic detection means detects the driver's operation delay characteristic, and the timing correction means corrects the operation guidance timing based on the driver's operation delay characteristic. is there. (3) According to a third aspect of the invention, the parking guidance device detects the driver's operation speed characteristic by the characteristic detection unit, and corrects the operation guidance timing based on the driver's operation speed characteristic by the timing correction unit. is there. (4) In the parking guidance device according to claim 4, the characteristic detecting means detects the maximum operation speed characteristic of the driver, and the timing correction means corrects the operation guidance timing based on the maximum operation speed characteristic of the driver. Things. (5) In the parking guidance device according to claim 5, the characteristic detection means detects the average operation speed characteristic of the driver, and the timing correction means corrects the operation guidance timing based on the average operation speed characteristic of the driver. Things. (6) In the parking guidance device according to claim 6, the operation guidance timing is corrected by the timing correction means based on a characteristic obtained by weighted addition of a plurality of driving operation characteristics of the driver. (7) The invention according to claim 7 is a parking guide that calculates a parking position and a parking route based on the surrounding environment of the vehicle, instructs a driving operation by voice and display, and guides the vehicle to the parking position along the parking route. The present invention is applied to a device and detects a driving operation characteristic of a driver, and corrects a driving operation guidance timing by voice and display according to the driving operation characteristic.

[0006]

【The invention's effect】

(1) According to the first aspect of the present invention, a parking position and a parking route are calculated based on the surrounding environment of the vehicle, a driving operation is instructed by voice and display, and the vehicle is guided to the parking position along the parking route. In this case, the driving operation characteristics of the driver are detected, and the timing of the guidance of the driving operation by voice and display is corrected according to the driving operation characteristics. Even if the operation characteristics are different, the vehicle can be reliably guided to the parking position along the parking route. (2) According to the second aspect of the invention, the operation delay characteristic of the driver is detected, and the operation guidance timing is corrected based on the driver operation delay characteristic. It can be obtained and can be corrected irrespective of the influence of the vehicle speed change. (3) According to the third aspect of the invention, the operation speed characteristic of the driver is detected, and the operation guidance timing is corrected based on the operation speed characteristic of the driver. And in particular, because it detects speed directly,
Detection accuracy can be improved. (4) According to the fourth aspect of the invention, the maximum operation speed characteristic of the driver is detected, and the operation guidance timing is corrected based on the maximum operation speed characteristic of the driver. The effect is obtained, and since the maximum operation speed is used as a reference, it is possible to accurately cope with a quick operation. (5) According to the invention of claim 5, the average operation speed characteristic of the driver is detected, and the operation guidance timing is corrected based on the average operation speed characteristic of the driver. Since the effect is obtained and the average value is viewed, it is possible to more closely match the characteristics of the driver. (6) According to the invention of claim 6, since the operation guidance timing is corrected based on the weighted addition of the plurality of driving operation characteristics of the driver, the same effect as in claim 1 is obtained, Since the statistical processing is performed, the accuracy can be improved. (7) According to the invention of claim 7, the parking position and the parking route are calculated based on the surrounding environment of the vehicle, the driving operation is instructed by voice and display, and the vehicle is guided to the parking position along the parking route. In this case, the driving operation characteristics of the driver are detected, and the timing of the guidance of the driving operation by voice and display is corrected according to the driving operation characteristics. Even if the operation characteristics are different, the vehicle can be reliably guided to the parking position along the parking route.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION

-First Embodiment of the Invention- FIG. 1 shows a configuration of a first embodiment. CCD cameras 2a to 2d for capturing images of the environment around the vehicle and laser radars 3a to 3d for detecting obstacles around the vehicle are provided on the front left and right and rear right and left of the vehicle 1, respectively. Further, a steering angle sensor 7 for detecting a steering angle of the steering and a vehicle speed sensor 8 for detecting a traveling speed of the vehicle 1 are provided.

[0008] The vehicle map generator 4 includes a CCD camera 2a.
2d is processed to detect the white line by processing the image of the surrounding environment of the vehicle, and the laser radars 3a to 3d
, An obstacle around the vehicle is detected, and a white line map and an obstacle map are combined to create a map around the vehicle. The parking route calculation device 5 calculates a parking position and a parking route based on the vehicle surrounding map created by the vehicle map generation device 4. The guidance display calculation device 6 includes a steering wheel operation, an accelerator / brake operation,
A voice guidance by a speaker 9 and a display 10 for instructing an occupant in a parking operation such as a transmission operation.
The method of guidance display according to is calculated.

Vehicle map generator 4, parking route calculator 5
The guidance display operation device 6 is composed of a microcomputer and its peripheral components, and their control functions are executed in the form of software of the microcomputer.

FIG. 2 is a flowchart showing the operation of the first embodiment. In step 1, the vehicle periphery map generation routine shown in FIGS. 3 and 4 is executed, and a vehicle periphery map is created by the vehicle map generation device 4. The creation of the vehicle surrounding map will be described later. Next, FIG.
9 to determine the parking position based on the map around the vehicle created by the parking route calculation device 5, and set an optimal route to the parking position. The calculation of the parking position and the parking route will be described later.

In step 3, the next steering point is called from the parking route data calculated in the route search position specifying routine. Next, in step 4, the distance L from the current position to the next steering point is calculated, and in the following step 5, the estimated arrival time T to the next steering point is calculated based on the distance L and the vehicle speed V detected by the vehicle speed sensor 8. Ask. In step 6, the estimated arrival time T to the next steering point is compared with the steering guidance timing td. The steering guidance timing td is a time required from the start point of the steering guidance by voice and display to the next steering point. If the estimated arrival time T is longer than the steering guidance timing td, it is determined that it is not the time to perform the voice guidance yet, and the process proceeds to step 7, and the display 10 continues to display the forward and backward movement from the previous steering point. The forward / backward guidance from the previous steering point is continued by the speaker 9. Thereafter, the process returns to step 6 to determine the steering guidance timing.

If the estimated arrival time T to the next steering point is equal to or less than the steering guidance timing td, it is determined that it is time to perform voice guidance, and the process proceeds to step 9 to start displaying a steering instruction on the display 10 and In step 10, voice guidance is started by the speaker 9. In step 11 after the start of the guidance display and the voice guidance, time measurement of the driver's steering delay time Ct by the timer is started. In step 12, it is confirmed whether or not the driver has started the steering by the steering angle sensor 7. If the steering is started, the process proceeds to step 13, the timer is stopped, and the counting of the steering delay time Ct is ended.

In step 14, the steering angle sensor 7
, The change in the steering angle, that is, the steering angular velocity θ
Is measured. In step 15, it is checked whether or not the steering by the driver has reached the target steering angle. In step 16, the maximum steering angular velocity θmax during the current steering by the driver is stored in the memory M.
To memorize. In the following step 17, the maximum steering angular velocity θmax is weighted by the guidance timing coefficient K1, and the steering delay time Ct is determined by the guidance timing coefficient K2.
, And sum the two to estimate the driving operation characteristic Δt of the driver.

Δt = K1 · θmax + K2 · Ct

Next, at step 18, the driving operation characteristic Δt of the driver is added to the initial value of the steering guidance timing td to correct the steering guidance timing td.

## EQU2 ## td = td + .DELTA.t In step 19, it is confirmed whether or not the parking position has been reached. If the parking position has not been reached, the flow returns to step 3 to repeat the above-described parking guidance operation. When the vehicle reaches the parking position, the parking guidance ends.

Next, a map creation operation around the vehicle will be described with reference to subroutines shown in FIGS. The subroutines shown in FIGS. 3 and 4 are executed by the surrounding map generation device 20. FIG. 3 shows an operation of capturing an image of the environment around the vehicle with a camera, processing the captured image, and detecting a white line on the road surface. In step 21, the ON state of the start switch is confirmed. If the start switch is on, the process proceeds to step 22 where the four CCD cameras 2a-8
The parameter i for switching d is reset to 0. In the following step 23, the camera switching parameter i is incremented, and the camera set as the first camera is designated. The cameras 2a to 2d correspond to the parameters i to 4 in order.

In step 24, the environment around the vehicle is imaged by the i-th camera. Edges are detected by differentiating the captured image, and the processed images are superimposed a plurality of times in order to emphasize white line edges on the road surface. The parameter indicating the number of times of superimposition of images is set to N. In step 25, the parameter N is once reset to 0, and in step 26, the parameter N is incremented to start the superimposition processing of the processed image. In step 27, the captured image is differentiated to detect edges, and in step 28, it is superimposed on the processed image of the same camera stored in the memory. In step 29, it is confirmed whether or not the superposition of the images has been performed a predetermined number of times a. If the superposition of a times has not been completed, the process returns to step 26 and the superposition of the processed images is repeated.

When the superimposition of the processed images of the predetermined number a is completed, the process proceeds to step 30, where a white line on the road surface is extracted from the superimposed images. These white lines include a white line indicating a parking space. In step 31, it is confirmed whether or not the white line extraction has been completed. If not completed, the process returns to step 23, where the camera switching parameter i is incremented, and the image pickup, image processing, superimposition processing and white line extraction by the next camera are performed.

When the white line extraction operation is completed, the process proceeds to step 32, where the coordinates are converted from the coordinate system of the image picked up by the camera to the plane map coordinate system having the own vehicle as the origin, and the following step 33
Creates a white line map centered on the own vehicle for each camera. For example, a white line map on the front left side of the vehicle is created from an image captured by the CCD camera 2a. In step 34, the white line map created for each camera is integrated around the own vehicle to correct the coordinate shift. In step 35, the created white line map is written and stored in the memory.

FIG. 4 shows an operation of detecting an obstacle by the laser radar. In step 41, the parameter i for switching the four laser radars 3a to 3d is reset to 0, and in step 42, the parameter i is incremented. The laser radars 3a to 3d correspond to the parameters i to 4 in order.

In step 43, an obstacle is detected by the i-th laser radar. In order to accurately detect an obstacle, detection data is superimposed a plurality of times. A parameter representing the number of times of superimposing images is set to N. In step 44, the parameter N is reset to 0 once.
In the following step 45, the parameter N is incremented to start superimposition of the detection data. In step 46,
The distance data from the laser radar is converted into a function L = f (θ) of the scanning angle θ of the laser radar. Step 4
In step 7, the data is superimposed on the distance measurement data of the same laser radar stored in the memory M.

In step 48, it is confirmed whether or not the superposition of the distance measurement data has been performed a predetermined number of times a. If the superposition of a times has not been completed, the flow returns to step 45 to take an image.
Repeat the overlay of the distance measurement data. When the superposition of the predetermined number a is performed, the process proceeds to step 49, and an obstacle map is created for each laser radar. In step 50, it is confirmed whether or not an obstacle map has been created by all the laser radars 3a to 3d. If not, the process returns to step 42 to increment the parameter i, and based on the next ranging data of the laser radar. Create an obstacle map.

When the creation of the obstacle map by all the laser radars 3a to 3d is completed, the process proceeds to step 51,
The obstacle map created for each laser radar is integrated to create an obstacle map with its own vehicle as the origin. In step 52, the already created and stored white line map is read, and in step 53, the white line map and the obstacle map are integrated to create a map around the vehicle.

Next, a method of setting a parking position and a parking route will be described with reference to FIGS. FIG. 5 shows a case where the vehicle is parked in parallel when the vehicle is parked with the front of the vehicle facing the road.
It is a figure showing a parking position and a parking course. Here, it is assumed that the vehicle X is parked at the parking position C of the white line frame L in the parking lot shown in the figure. The circular arc Ca is a circular arc having the minimum turning radius minR of the turning inner wheel of the vehicle X, and the circular arc Cb is a circular arc having a minimum turning radius of the outer ring of the vehicle X, that is, a radius obtained by adding the tread Wt to the minimum turning radius minR of the inner wheel.
The arc Ca is in contact with the extension of the parking frame La, and the arc Cb is in contact with the traveling straight line Lb indicating the current traveling direction of the vehicle X. When the vehicle X moves to the parking position C from outside the area S determined by the arc Ca, it is necessary to perform at least two times of stationary steering.

A route in which the vehicle X whose left front wheel is at the point A enters the parking position C with one turn of the steering wheel, goes straight from the point A along the traveling straight line Lb, and the traveling straight line Lb contacts the arc Cb. Full turning to the right at the starting point P0, turning right and arc C
The vehicle stops at a first target point P1 at which a contacts the arc Cb. At the first target point P1, the vehicle is fully steered to the left and turns backward while turning left. The arc Ca is neutrally steered at a point D where the arc Ca is in contact with the extension of the parking frame La, and the vehicle moves straight back as it is. This is the route to enter.

FIG. 6 is a diagram showing a parking position and a parking route when the initial position of the vehicle is more than the minimum turning radius minR from the entrance D of the parking position C (to the right of Lc in the figure). The arcs Ca, Cd, and Ce are arcs having the minimum turning radius minR at the turning inner wheel of the vehicle X, and the arcs Cb, Cc
Is an arc of a radius obtained by adding the tread Wt to the minimum turning radius of the turning outer wheel, that is, the minimum turning radius minR of the turning inner wheel.

In this case, there are at least three types of parking paths which enter the parking position C by one turn-back steering only for stationary steering. The first parking path travels straight from point B along the straight line Lb, and stops at the first target P1a where the straight line Lb contacts the arc Cc. This first target point P
At 1a, the steering wheel is steered to the right, and while maintaining the steering wheel at the right, the arc Cc moves forward to a point G where the arc Cc contacts the extension of the parking frame La. At this point G, the vehicle is steered to neutral and goes straight forward and retreats to the parking position C.
This is the route to enter.

The second parking path is a traveling straight line Lb from point B.
, And the traveling straight line Lb contacts the arc Cd.
The vehicle stops at the target point P1b. This first target point P1
This is a route in which the vehicle is fully steered to the left at b, retreats by turning right, retreats neutrally at a point E where the arc Cd is in contact with the extension of the parking frame La, retreats straight, and enters the parking position C.

The third parking route is similar to the route shown in FIG.
At the turning start point P0 where b and the arc Cb are in contact, the vehicle is fully steered to the right and turns right, and stops at the first target point P1c where the arc Cb and the arc Ce are in contact. At this first target point P1c, the vehicle is fully steered to the left and retreated by turning right, and the circular arc Ce becomes the parking frame L
This is a route in which the vehicle is neutrally steered at a point F which is in contact with the extension of a, retreats straight as it is, and enters the parking position C.

As described above, when there are a plurality of routes that can be parked by one return steering, an evaluation function that minimizes the steering amount such as the number of times of return and the number of steering, an evaluation function that minimizes the traveling distance, a parking function Any one of the parking routes is determined in consideration of the driver's past driving preference for an evaluation function that minimizes the time required for the vehicle.

FIGS. 7 to 9 are flowcharts showing a routine for setting a parking position and a parking route. Step 6 in FIG.
In steps 1 to 65, the parking position is specified and the driver's consent is obtained. That is, the map around the vehicle created by the surrounding map generation device 20 in step 61, that is, the map of the white line around the vehicle and the obstacle is read. Subsequent step 62
Then, the parkable area represented by a white line on the map is sequentially collated with a template representing the entire length and full width of the vehicle, and a position where the vehicle can be parked is extracted. In step 63, the parking position closest to the vehicle is specified from the available parking positions, and in step 64, the specified parking position is displayed on the display 10. The driver looks at the display of the parking position and inputs whether or not he / she understands with the input device. In step 65, it is confirmed whether or not the driver has given the consent of the parking position, and if not, the process returns to step 62,
The next parking available position is specified.

When the driver's consent for the proposed parking position is obtained, the process proceeds to step 66, where a final switching candidate point is extracted. The final switching candidate point is a point at which the switching for the vehicle to enter the parking position is completed. In the example shown in FIGS. In step 67, the trajectory group C1 of the arc having the minimum rotation radius in contact with the extension of the white line frame is extracted. In the examples shown in FIGS. 5 and 6, the minimum turning radius mi in contact with the extension of the white line frame La is shown in FIG.
The arcs Ca and Cd of nR correspond to the trajectory group C1. In step 68, it is determined whether or not there is an arc in the trajectory group C1 that is in contact with the traveling straight line of the vehicle. In the example of FIG. 5, there is no corresponding arc, and in the example of FIG. 6, the arc Cd corresponds.

When there is no arc corresponding to Cd in FIG. 6 in contact with the straight line of the vehicle in the trajectory group C1 of the arc in contact with the extension of the parking frame La, that is, as shown in FIG. If it is close, the vehicle advances along the traveling straight line to the first target point P1a, and moves leftward at the first target point P1a.
There is no parking route that turns only once and enters the parking position. In this case, the vehicle must once turn to the opposite side to the parking position, turn back, and enter the parking position. On the other hand, a trajectory group C of arcs in contact with the extension of the parking frame La
If there is an arc in 1 that is in contact with the straight line of travel of the vehicle, there is a parking route that passes through the arc Cd from the first target point P1b as shown in FIG.

If there is no arc in contact with the vehicle straight line in the arc locus group C1 in contact with the extension line of the parking frame La, in step 69, the outer ring minimum turning radius locus C2 in contact with the vehicle straight line Lb is extracted. Extract. The arc Cb shown in FIG. 5 and the arc Cc shown in FIG. 6 are included in the trajectory group C2. In step 70, it is confirmed whether or not any of the arcs included in the trajectory group C2 is in contact with the arcs included in the trajectory group C1.
If the arc that touches the straight line of the vehicle and the arc that touches the extension of the parking frame touch, it turns to the opposite side to the parking position,
There is a parking route that switches back and enters the parking frame. On the other hand, if there is no such arc, the process proceeds to step 91, and another parking route is searched.

At step 81 in FIG. 8, the first target point is specified. In the example shown in FIG. 6, the points P1a, P1
b and P1c correspond, and when the process proceeds from step 68, P1b shown in FIG. 6 is specified as the first target point,
When the process proceeds from step 70, P1 shown in FIG. 5 and P1c shown in FIG. 6 are specified. In step 82, the first
A route m1 to the target point is formed. Further, in step 83, the turning start point P0 is specified. In the examples shown in FIGS. 5 and 6, the point P0 corresponds to the turning start point.

In step 91 in FIG. 9, an arc which is in contact with the extension of the parking frame and the straight line of travel of the vehicle and which is equal to or larger than the minimum turning radius minR is calculated. At step 92,
If there is an arc satisfying the above condition, the process proceeds to step 81; otherwise, the process proceeds to step 93. In step 93, the parking position is changed, and the next parking position is proposed.

As described above, when the parking position and the parking route are calculated based on the surrounding environment of the vehicle, the driving operation is instructed by voice and display, and the vehicle is guided to the parking position along the parking route. The weighted addition of the driving operation characteristics of the operation delay (steering delay) and the operation speed (maximum steering angular velocity) of the vehicle, and the guidance timing of the driving operation by voice and display is corrected according to the weighted added driving operation characteristic.
Even if there are differences in driving operation characteristics such as operation delay and operation speed due to individual differences of drivers, the vehicle can be reliably guided to the parking position along the parking route.

In the configuration of the first embodiment,
CCD cameras 2a-2d, laser radars 3a-3d
And the vehicle map generating device 4 is an environment detecting device, the parking route calculating device 5 is a position route calculating device, the guidance display calculating device 6, the speaker 9 and the display 10 are guiding devices, the guide display calculating device 6 is a characteristic detecting device and Each of the timing correction means is configured.

Second Embodiment of the Invention In the above embodiment, the driver's maximum steering angular velocity θma
Although the example in which the steering guidance timing td is changed based on x has been described, the steering guidance timing td may be changed based on the average steering angular velocity θave of the driver.

FIG. 10 is a flowchart showing the operation of the second embodiment. The same operation steps as those of the first embodiment shown in FIG. 2 are denoted by the same step numbers, and the description will be focused on the differences. The configuration of the second embodiment is the same as the configuration of the first embodiment shown in FIG. At the steering point,
When the driver's steering reaches the target steering angle, the process proceeds to step 16A, and the average steering angular velocity θav during steering by the current driver is performed.
e is stored in the memory M. In the following step 17A, the average steering angular velocity θave is weighted by the guidance timing coefficient K1, the steering delay time Ct is weighted by the guidance timing coefficient K2, and the two are added to estimate the driving operation characteristic Δt of the driver.

Δt = K1 · θave + K2 · Ct Next, in step 18, the steering guidance timing td is corrected based on the driver's driving operation characteristic Δt as described above.

As described above, when the parking position and the parking route are calculated based on the surrounding environment of the vehicle, the driving operation is instructed by voice and display, and the vehicle is guided to the parking position along the parking route. The weighted addition of the driving operation characteristics of the operation delay (steering delay) and the operation speed (average steering angular velocity) of the vehicle, and the guidance timing of the driving operation by voice and display is corrected according to the weighted added driving operation characteristics.
Even if there are differences in driving operation characteristics such as operation delay and operation speed due to individual differences of drivers, the vehicle can be reliably guided to the parking position along the parking route.

In the configuration of the second embodiment,
CCD cameras 2a-2d, laser radars 3a-3d
And the vehicle map generating device 4 is an environment detecting device, the parking route calculating device 5 is a position route calculating device, the guidance display calculating device 6, the speaker 9 and the display 10 are guiding devices, the guide display calculating device 6 is a characteristic detecting device and Each of the timing correction means is configured.

In the above-described first and second embodiments, the steering delay, the maximum steering angular velocity, and the average steering angular velocity have been described as examples of the driving operation characteristics of the driver. Not limited to, for example, steering amount,
Anything that indicates the “habit” of the driving operation unique to the driver, such as a braking operation delay, a braking amount, and a braking speed, may be used. In the first and second embodiments described above, the steering guidance timing is described as an example. However, the operation guidance timing by voice and display is not limited to the above-described embodiment, and includes, for example, a braking guidance timing. It is.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a first embodiment.

FIG. 2 is a flowchart illustrating an operation of the first embodiment.

FIG. 3 is a flowchart illustrating a vehicle surrounding map generation routine.

FIG. 4 is a flowchart showing a vehicle map generation routine continued from FIG. 3;

FIG. 5 is a diagram illustrating a parking route in a case where the vehicle is parked in parallel with the direction of the front of the vehicle facing the road when the vehicle is parked.

6 is a diagram showing a parking route when the vehicle stops at a position far from the parking position in the parking lot shown in FIG. 5;

FIG. 7 is a flowchart showing a routine for setting a parking position and a parking route.

FIG. 8 is a flowchart showing a routine for setting a parking position and a parking route, following FIG. 7;

FIG. 9 is a flowchart following FIG. 8 showing a routine for setting a parking position and a parking route.

FIG. 10 is a flowchart illustrating an operation according to the second embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Vehicle 2a-2d CCD camera 3a-3d Laser radar 4 Vehicle map generation device 5 Parking route calculation device 6 Guidance display calculation device 7 Steering angle sensor 8 Wheel speed sensor 9 Speaker 10 Display M memory

Claims (7)

[Claims] An environment detecting means for detecting a surrounding environment of a vehicle; a position and route calculating means for calculating a parking position and a route to the parking position based on the surrounding environment of the vehicle; And a guiding means for guiding the vehicle to a parking position along a parking path, wherein the characteristic detecting means detects a driving operation characteristic of the driver, and the guidance is performed according to the driving operation characteristic of the driver. And a timing correcting means for correcting the operation guidance timing of the means. 2. The parking guidance device according to claim 1, wherein the characteristic detection unit detects a driver's operation delay characteristic, and the timing correction unit corrects the operation guidance timing based on the driver's operation delay characteristic. A parking guidance device. 3. The parking guidance device according to claim 1, wherein the characteristic detecting unit detects an operation speed characteristic of the driver, and the timing correction unit operates based on the operation speed characteristic of the driver. A parking guidance device that corrects guidance timing. 4. The parking guidance device according to claim 3, wherein the characteristic detection means detects a maximum operation speed characteristic of the driver, and the timing correction means detects an operation guidance timing based on the maximum operation speed characteristic of the driver. A parking guidance device characterized by correcting the following. 5. The parking guidance device according to claim 3, wherein the characteristic detection means detects an average operation speed characteristic of the driver, and the timing correction means detects an operation guidance timing based on the average operation speed characteristic of the driver. A parking guidance device characterized by correcting the following. 6. The parking guidance device according to claim 1, wherein the timing correction means corrects the operation guidance timing based on a weighted sum of a plurality of driving operation characteristics of the driver. A parking guidance device. 7. A parking guidance device that calculates a parking position and a parking route based on a surrounding environment of a vehicle, instructs a driving operation by voice and display, and guides the vehicle to the parking position along the parking route. A parking guidance device characterized by detecting the driving operation characteristics of the vehicle and correcting the guidance timing of the driving operation by voice and display according to the driving operation characteristics.