RU2791347C1 - Parking assistance method and a parking assistance device - Google Patents

Abstract

FIELD: parking assistance.

SUBSTANCE: parking assistance method and a parking assistance device. The parking assistance method includes detecting a parking space for parking the vehicle under consideration, setting the steering wheel turn position, while the steering wheel of the considered vehicle is turned to the steering wheel turn position, forming a parking route to reach the parking space from the current position of the considered vehicle through the position of the steering wheel, and control of the vehicle in question for autonomous movement along the parking route. When forming the parking route, the direction of turn is additionally determined, in which the considered vehicle turns on the route for movement from the position of the steering wheel to the parking space, and the route is formed from the current position of the considered vehicle to the position of the steering wheel so that the steering direction of the considered vehicle corresponds to the direction turn while the vehicle in question is stopped in the steering wheel turn position.

EFFECT: assistance when parking the vehicle.

8 cl, 18 dwg

Description

[Technical field to which the invention relates]

[0001]

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

[Prior Art]

[0002]

There is a conventionally known parking assistance method (Patent Document 1) including, by parallel parking a vehicle, determining whether the length of the parking space in front of the vehicle is equal to or greater than the sum of the entire length of the vehicle and the predetermined length, the parking assistance of the vehicle means with a clothoid curve route, including no static steering if the length of the parking space is equal to or greater than the sum of the entire length of the vehicle and a given length, and assistance with parking the vehicle along the route, including static steering, when the length of the parking space is less than the sum of the entire length vehicle and given length.

[Prior art document]

[Patent document]

[0003]

[Patent Document 1] Japanese Patent No. 6062406

[Summary of the Invention]

[Problems solved by the invention]

[0004]

In the aforementioned prior art, by assisting when parking a vehicle on a route requiring a steering wheel operation (or limiting the wheel angle), the steering direction of the subject vehicle is reversed after the steering wheel operation, resulting in a problem that the time required for parking becomes longer.

[0005]

The problem to be solved by the present invention is to provide a parking assistance method and a parking assistance device in which the necessary parking time can be shortened by parking the vehicle on a route requiring a steering wheel operation.

[Troubleshooting Tools]

[0006]

In the present invention, the above problem is solved by determining the turning direction in which the subject vehicle turns along the driving route from the steering wheel position to the parking space, and forming a route from the current position of the subject vehicle to the steering wheel position in such a way that the steering direction of the vehicle in question corresponds to the turning direction at the time when the vehicle in question is stopped in the steering wheel turn position.

[Invention Effect]

[0007]

The present invention can shorten the parking time required in the case of assisting a vehicle to park on a route requiring a steering wheel operation.

[Brief description of the drawing]

[0008]

Fig. 1 is a block diagram illustrating an exemplary configuration of a parking assistance system according to an embodiment according to the present invention.

Fig. 2 is a perspective view of a vehicle illustrating an exemplary arrangement of the imaging devices of the present embodiment installed on the vehicle in question.

Fig. 3 is an exemplary image displayed on a display, which is a bird's-eye view image created by the image processing apparatus of the present embodiment.

Fig. 4 is a plan view of a vehicle illustrating an exemplary arrangement of the ranging devices of the present embodiment installed on the vehicle in question.

Fig. 5 is a plan view illustrating exemplary line patterns defining parking areas according to the present embodiment.

Fig. 6 is a plan view illustrating a parking route according to a comparative example of the present invention.

Fig. 7 is a plan view illustrating an exemplary parking route (practical example) calculated by the parking assistance device of the present embodiment.

Fig. 8 is a plan view illustrating another exemplary parking route (practical example) computed by the parking assistance device of the present embodiment.

Fig. 9A is a plan view (Part 1) illustrating another exemplary parking route (practical example) computed by the parking assistance device of the present embodiment.

Fig. 9B is a plan view (Part 2) illustrating another exemplary parking route (practical example) computed by the parking assistance device of the present embodiment.

Fig. 9C is a plan view (Part 3) illustrating another exemplary parking route (practical example) computed by the parking assistance device of the present embodiment.

Fig. 9D is a plan view (part 4) illustrating another exemplary parking route (practical example) computed by the parking assistance device of the present embodiment.

Fig. 10 is a plan view illustrating another exemplary parking route (practical example) calculated by the parking assistance device of the present embodiment.

Fig. 11 is a timing chart illustrating a driving plan for parking assistance according to a comparative example of the present invention, in which (A) is a timing chart of a vehicle speed and (B) is a timing chart of a steering angle.

Fig. 12 is a timing chart illustrating an exemplary driving plan for the parking assist device of the present embodiment, in which (A) is a timing chart of a vehicle speed and (B) is a timing chart of a steering angle.

Fig. 13 is a timing chart illustrating another exemplary driving plan for parking assistance by the parking assistance device of the present embodiment, in which (A) is a timing chart of a vehicle speed and (B) is a timing chart of a steering angle.

Fig. 14 is a flowchart illustrating an exemplary control procedure of the parking assist device of the present embodiment shown in FIG. 1.

Fig. 15 is a flowchart illustrating an exemplary subroutine of step S6 in the flowchart shown in FIG. 14.

[Embodiment(s) of the present invention]

[0009]

Hereinafter, an embodiment according to the present invention will be described with reference to the accompanying drawings.

[0010]

Fig. 1 is a block diagram illustrating the configuration of a parking assistance system 1000 according to an embodiment of the present invention. The parking assistance system 1000 of the present embodiment is a system for driving assistance when the subject vehicle is traveling (parking) from a current position to a parking space. The parking assistance system 1000 of the present embodiment includes a parking assistance device 1, an imaging device 2, an image processing device 3, a ranging device 4, a vehicle controller 5, a drive system 6, a vehicle speed sensor 7, and an angle sensor 8 steering. These constituent components are connected by a controller area network (CAN) or other on-board local area network to exchange information with each other.

[0011]

The parking assist device 1 of the present embodiment includes a control device 11 and an output device 12 . The control device 11 of the present embodiment includes a ROM 111, which is a read only memory (ROM, read only memory) storing parking assistance programs, a CPU 112, which is a central processing unit (CPU) executing programs stored in ROM 111, and RAM 113, which is random access memory (RAM) functioning as an accessible storage device. The output device 12 includes a display 121, which is a display equipment for providing information such as the space in which the vehicle in question can be parked for the driver. The parking assistance programs stored in the ROM 111 of the present embodiment are programs that allow the control device 11 to execute a control procedure for detecting a parking space in which the vehicle in question can be parked, presenting the parking space on the display 121, calculating a parking route for parking of the vehicle in question in the parking space set by the driver, and assisting in the operation of moving the vehicle in question from the current position to the parking space.

[0012]

The parking assistance device 1 of the present embodiment is applicable to automated (or autonomous) parking in which parking can be realized automatically or autonomously by performing all steering, accelerator and braking operations in automatic or autonomous mode, and is also applicable to semi-automatic (or semi-autonomous ) parking, in which parking can be realized by manually performing at least one of the steering, accelerator and braking operations and performing the remaining operations automatically or autonomously. In addition, the parking assistance device 1 of the present embodiment is also applicable to parking assistance in which a parking route is provided to the driver so that the driver can operate the steering, accelerator, and brake to park the vehicle in question in a parking space. In the present embodiment, an automatically reset switch such as an emergency stop switch is used in automated (or autonomous) parking and semi-automated (or semi-autonomous) parking. In the parking assistance device 1, the execution of automated (or autonomous) driving for the vehicle in question is performed when the emergency stop switch is pressed, and the automated (or autonomous) driving and semi-automated (or semi-autonomous) driving for the vehicle in question is terminated after releasing pressing the emergency stop switch.

[0013]

In addition, the parking assistance device 1 of the present embodiment can be configured to operate in response to a signal transmitted from a portable terminal device (equipment such as a smartphone, PDA, or smart key that locks and unlocks vehicle doors), which can communicate with the parking aid device 1 . In this case, the parking assistance device 1 of the present embodiment is also applicable to remote parking in which the driver can manipulate and park the vehicle in question outside the vehicle.

[0014]

The imaging device 2 of the present embodiment, the image processing device 3 of the present embodiment, and the ranging device 4 of the present embodiment are equipments capable of detecting information about the moving environment, including the presence of any obstacle located around the vehicle in question in front on both sides. , behind or around the entire circumference of the vehicle in question, as well as in another situation around the vehicle in question.

[0015]

The imaging device 2 of the present embodiment is an on-board device capable of recognizing environmental information around the vehicle in question from images. The imaging apparatus 2 of the present embodiment obtains information about the environment around the subject vehicle by imaging the environment of the subject vehicle and obtaining image data including any obstacles existing around the subject vehicle. Examples of the imaging apparatus 2 include a camera equipped with image sensor elements such as a CCD (CCD), an ultrasonic camera, an infrared camera, and other cameras. Information about the environment around the vehicle in question obtained by the imaging device 2 is output to the control device 11 .

[0016]

Fig. 2 is a perspective view of the subject vehicle V1 illustrating an exemplary arrangement of the imaging apparatus 2 of the present embodiment installed on the subject vehicle V1. According to the example shown in FIG. 2, the imaging device 2a is located on the front of the radiator grill of the vehicle V1 in question, the imaging device 2b is located under the left door mirror, the imaging device 2c is located under the right door mirror, and the imaging device 2d is located near the rear bumper. Each of the imaging devices 2a to 2d may be a camera containing a wide-angle lens with a large viewing angle. As shown in FIG. 2, the imaging apparatus 2a captures an image spanning from the front right to the front left direction of the subject vehicle V1, the imaging apparatus 2b captures an image spanning from the front left to the rear left corner of the subject vehicle V1, the imaging apparatus 2c captures an image spanning from the front right to the rear right direction of the subject vehicle V1, and the imaging apparatus 2d captures an image covering from the rear right to the rear left corner of the subject vehicle V1. Adopting such an arrangement of the imaging apparatus 2 can reduce any blind spot in which information cannot be obtained in case of obtaining environmental information around the vehicle V1 in question. When an obstacle is detected by the imaging device 2, a motion stereo sound method using the imaging devices 2a to 2d can be used.

[0017]

The image processing apparatus 3 of the present embodiment is an apparatus capable of generating a bird's-eye view image indicating a situation around a subject vehicle V1 when the subject vehicle V1 is viewed from an upper virtual viewpoint. The virtual viewpoint is, for example, the virtual viewpoint VP shown in FIG. 2. The image processing apparatus 3 creates a bird's eye view image using a plurality of captured images acquired by the imaging apparatus 2. The image processing for forming a bird's eye view image in the image processing apparatus 3 is, for example, but not limited to, the processing method described in SUZUKI Masayasu, CHINOMI Satoshi, and TAKANO Teruhisa, "Development of All-around View System", Society of Automotive Engineers of Japan, Academic Lecture Pre-print Collection, 116-07 (2007-10), 17-22. The bird's-eye image (or circular image) generated by the image processing device 3 is output to the control device 11 and presented to the driver by the display 121 shown in FIG. 2. Although the display 121 shown in FIG. 2 is located at the top of the dashboard between the driver's seat and the passenger's seat, the installation position of the display 121 is not particularly limited, and the display 121 can be installed at a suitable position.

[0018]

Fig. 3 is an image displayed on a display which is an exemplary bird's-eye view image created by the image processing apparatus 3 of the present embodiment. The driving scene of the considered vehicle V1 in FIG. 3 is a scene in which the subject vehicle V1 moves through a parking lot to find a parking space PS. The image displayed on the display shown in FIG. 3 includes a bird's-eye view image IM1 produced by the image processing apparatus 3 according to the present embodiment on the left side, and an observation image IM2 for observing the environment of the vehicle V1 in question on the right side. The considered vehicle V1 is displayed at the center of the bird's eye view image IM1, and the parking areas separated by white lines are displayed on the left and right sides of the considered vehicle V1. These parking zones include an area in which another vehicle V2 is detected and that vehicle V2 is displayed, and an area in which any obstacle such as another vehicle V2 is not detected and the vehicle V1 in question can be parked, which is indicated by boxed with a dotted line indicating the parking space PS as the zone in which the vehicle V1 in question can be parked. On the other hand, the observation image IM2 is an image obtained from the image forming apparatus 2a located on the front of the grille of the subject vehicle V1, which is displayed to represent the front side environment information, that is, the current driving direction of the subject vehicle V1 . The surveillance image IM2 includes, for example, displaying an obstacle such as another vehicle V2 in addition to parking areas separated by white lines.

[0019]

The ranging device 4 according to the present embodiment is a device capable of calculating a relative distance and a relative speed between a subject vehicle V1 and an object. The ranging device 4 is a radar or sonar such as laser radar, millimeter wave radar (eg LRF), light detection and ranging (LiDAR) or ultrasonic radar. Based on the signal received from the radar device or sonar, the ranging device 4 determines the presence/position of an object and the distance to that object. The object is, for example, an obstacle, a pedestrian or any other vehicle around the considered vehicle V1. Information about the object detected by the ranging device 4 is output to the control device 11 . During the parking assistance, if the subject vehicle V1 is likely to collide with an object detected by the ranging device 4, the control device 11 of the present embodiment stops the subject vehicle V1 and informs the driver of the collision probability between the detected object and the subject vehicle V1 using the display 121.

[0020]

Fig. 4 is a plan view of the subject vehicle V1 illustrating an exemplary arrangement of the ranging device 4 in the case where the ranging device 4 according to the present embodiment is installed on the subject vehicle V1. The considered vehicle V1 illustrated in FIG. 4 includes front ranging devices 4a configured to detect objects in front of the vehicle V1 in question, side ranging devices 4b configured to detect objects on the right and left sides of the vehicle V1 in question, and rear ranging devices 4c, configured to detect objects behind the vehicle V1 in question. The considered vehicle V1 illustrated in FIG. 4 includes ranging devices 4a-1 to 4a-4 as front ranging devices 4a, ranging devices 4b-1 to 4b-4 as side ranging devices 4b, and devices 4c-1 to 4c. -4 ranging as rear 4c ranging devices. The ranging device 4 according to the present embodiment can be installed in the bumpers of the considered vehicle V1, for example. Placing the ranging device 4 in this way can prevent inaccuracies in calculating the relative distance and relative speed between the vehicle V1 in question and the surrounding object.

[0021]

The vehicle controller 5 of the present embodiment is an on-board computer such as an electronic control unit (ECU) that electronically controls the motion control drive system 6 of the subject vehicle V1. The vehicle controller 5 controls the driving device, the braking device and the steering device included in the driving system 6 to provide driving assistance in moving the subject vehicle V1 to move (park) from the current position to the parking space PS. The vehicle controller 5 receives a control command from the parking assist device 1 based on the parking route, the target vehicle speed, and the target steering angle calculated in advance. Each of the parking path, the target vehicle speed, and the target steering angle will be described below.

[0022]

The drive system 6 of the present embodiment includes drive equipment such as an electrically driven motor and/or an internal combustion engine serving as drive driving sources, a power transmission device including a drive shaft, and an automatic transmission for transmitting the power output of these driving sources of movement to the driving wheels, a driving device that controls the power transmission device, a brake device that brakes the wheels, and a steering steering device that controls the wheels steered in accordance with the angle of the steering wheel (so-called handle). The vehicle controller 5 receives a control command from the parking assistance device 1 based on the parking route and the target vehicle speed calculated in advance. Then, the vehicle controller 5 generates a control signal to be supplied to the drive equipment of the drive system 6 based on the control command from the parking aid device 1, and controls the driving behavior of the vehicle including acceleration/deceleration. The drive system 6 can autonomously control the vehicle speed of the subject vehicle V1 by receiving a control signal from the vehicle controller 5.

[0023]

In addition, the drive system 6 of the present embodiment includes a steering device. The steering device includes a steering actuator, and the steering actuator includes a motor or the like attached to the steering column shaft. The steering device of the drive system 6 is controlled by the vehicle controller 5 so that the vehicle in question moves while maintaining a predetermined lateral position (position in the left and right direction of the vehicle) relative to the pre-calculated parking route. The vehicle controller 5 controls the steering device using at least one of the information about the environment around the vehicle V1 in question obtained by the image forming apparatus 2, the bird's eye view image IM1 produced by the image processing apparatus 3, and the obstacle information about pedestrian or any other vehicle around the considered vehicle V1 detected by the ranging device 4 . In this case, the parking assistance device 1 transmits a control command to the vehicle controller 5 based on the pre-computed parking route and the target steering angle. Then, the vehicle controller 5 generates a control signal to be applied to the steering device of the drive system 6 based on the control command from the parking assistance device 1, and performs steering control for the subject vehicle V1. The drive system 6 can autonomously control the steering of the vehicle V1 in question by receiving a control signal from the vehicle controller 5 .

[0024]

The vehicle speed sensor 7 according to the present embodiment is a sensor that is provided in the driving apparatus of the driving system 6 and is capable of detecting the vehicle speed of the subject vehicle V1. The steering angle sensor 8 according to the present embodiment is a sensor that is provided in the steering device of the drive system 6 and is capable of detecting the steering angle of the subject vehicle V1. The vehicle speed of the subject vehicle V1 detected by the vehicle speed sensor 7 and the steering angle of the subject vehicle V1 detected by the steering angle sensor 8 are output to the control device 11 via the vehicle controller 5.

[0025]

The control device 11 of the present embodiment performs an environmental information gathering function of obtaining information about the environment around the vehicle V1 in question, causing the CPU 112 to execute the parking assistance programs stored in the ROM 111, a parking space detection function to detect a parking area, in which the subject vehicle V1 can be parked, a parking space display function for displaying the detected parking space PS as a bird's eye view image IM1 on the display 121, a parking route calculation function for calculating the parking route for enabling the subject vehicle V1 to move from of the current position to the parking space PS (for being parked), and a motion planning function for moving the motion planning for moving the vehicle in question V1 to park along the computed parking route.

[0026]

The environmental information collection function of the control device 11 according to the present embodiment is a function that the control device 11 can use to obtain environmental information including the presence of any obstacle located around the considered vehicle V1. The control device 11 uses the environmental information collection function to obtain, for example, vehicle speed information of the subject vehicle V1 detected by the vehicle speed sensor 7 and steering angle information of the subject vehicle V1 detected by the steering angle sensor 8 management, as information related to the environment. In addition, the control device 11 uses the environmental information collection function to acquire the location information of the subject vehicle V1 as information related to the environment that has been detected by the subject vehicle location device (not shown) equipped, for example, with the device GPS and gyro sensor, as well as high-accuracy 3D map information, including location information of various objects and specific points stored in ROM. Using the above information related to the environment, the control device 11 of the present embodiment determines whether the driving scene of the subject vehicle V1 is the scene in which the subject vehicle V1 is about to park in the parking space PS, through the environmental information collection function.

[0027]

For example, based on information related to the environment, the control device 11 of the present embodiment determines that the situation in which the subject vehicle V1 travels at a vehicle speed equal to or less than a predetermined vehicle speed for a predetermined time or more, is the scene in which the vehicle V1 in question is about to park in the PS parking space. Alternatively, when it is determined based on the environmental information that the subject vehicle V1 is running in a parking area such as a parking area of a highway, the control device 11 of the present embodiment determines that this situation is the scene in which the subject vehicle vehicle V1 is about to park in the PS parking space. Alternatively, if information related to the environment is obtained using a communication device (not shown) through communication with the outside of the vehicle (so-called vehicle-to-road communication) or vehicle-to-vehicle communication, the control device 11 of the present embodiment may refer to this when determining the scene in which the vehicle V1 in question is about to park in the parking space PS. When the scene in which the subject vehicle V1 is about to park in the parking space PS is determined, the control device 11 of the present embodiment continues executing the parking assistance programs. On the contrary, for example, when it is determined based on the information related to the environment that the subject vehicle V1 exits the parking lot and travels along the road, the control device 11 of the present embodiment determines that this situation is not the scene in which the subject vehicle V1 going to park in the PS parking space. After determining that this is not a scene in which the subject vehicle V1 is about to park in the parking space PS, the control device 11 of the present embodiment stops execution of the parking assistance programs.

[0028]

In the case of determining a scene in which the subject vehicle V1 is about to park in the parking space PS, the control device 11 of the present embodiment uses an environmental information collection function to acquire boundary line images such as white lines around the subject vehicle V1 and surrounding objects, captured, for example, by the imaging devices 2 attached to the plurality of parts of the subject vehicle V1 as environmental information. In addition, the control device 11 of the present embodiment uses the environmental information collection function to obtain detection results of, for example, the front ranger 4a, the side ranger 4b, and the rear ranger 4c as environmental information. Using the above environmental information, the control device 11 of the present embodiment detects the parking space PS, which is a parking area in which the vehicle V1 in question can be parked. When a PS parking space is detected, the parking space detection function can be used.

[0029]

The parking space detection function of the control device 11 of the present embodiment is a function used to detect a parking area in which the subject vehicle V1 can be parked using the environmental information around the subject vehicle V1 acquired by the environmental information collection function. When a PS parking space is detected, the control device 11 according to the present embodiment uses a parking space detection function to cause the image processing apparatus 3 to create a bird's eye view image IM1 using the captured image acquired by the imaging apparatus 2. The control device 11 of the present embodiment uses the parking space detection function to detect lines defining the area boundary from the generated bird's eye view image IM1, and identifies candidate lines that define the parking area from the detected lines. Then, the control device 11 of the present embodiment uses the parking space detection function to determine whether the identified candidate lines define a parking area. When it is determined that the identified candidate lines determine the parking area, the control device 11 determines whether the vehicle V1 in question can be parked in the detected parking area.

[0030]

In order to detect the lines defining the boundary of the area from the bird's eye view image IM1, the control device 11 according to the present embodiment uses the parking space detection function to perform edge detection on the bird's eye view image IM1 and calculate the difference in brightness (contrast). Then, the control device 11 of the present embodiment uses the parking space detection function to identify each sequence of pixels whose luminance difference is equal to or greater than the predetermined value from the bird's eye view image IM1, and calculates the thickness and length of each line. The color of the detected line does not always have to be white, but can be red, yellow, or any other color.

[0031]

The control device 11 of the present embodiment uses a conventionally known image processing method, such as pattern matching, to identify candidate parking area defining lines from the detected lines. Patterns to be used in pattern matching are stored in advance in the ROM 111 of the control device 11 according to the present embodiment. For example, FIG. 5(A) illustrates a scene in which the subject vehicle V1 is about to park in the parking space PS1, which is a parking area in which the subject vehicle V1 can be parked between another vehicle V2a and another vehicle V2b. In the scene in Fig. 5(A), the lines that define the parking area corresponding to the parking space PS1 are the line L1, the line L2, and the line L3, which are three sides on all sides forming a rectangular shape of the parking space PS1. The control device 11 of the present embodiment stores the combination of lines L1, L2 and L3 that define the parking area as a pattern corresponding to the scene in FIG. 5(A), in ROM 111.

[0032]

In addition, FIG. 5(B) illustrates a scene in which the vehicle V1 in question is about to parallel park in the parking space PS2 between another vehicle V2c and another vehicle V2d. In the scene in Fig. 5(B), the control device 11 of the present embodiment causes the imaging device 2 to detect the line L4 as the line that defines the parking area corresponding to the parking space PS2, and further detects a curb or wall (not illustrated) located on the left side of another vehicle. V2c and another V2d vehicle. However, the control device 11 of the present embodiment cannot determine any parking area from line L4, curb, or the like. Therefore, in the scene in FIG. 5(B), the control device 11 of the present embodiment places the virtual line L5 behind the other vehicle V2c and the virtual line L6 in front of the other vehicle V2d. Then, if any parking area can be defined by the line L4 detected by the imaging device 2, together with the virtual lines L5 and L6, it is determined that the line L4 is the line defining the parking area. The control device 11 of the present embodiment stores the combination of the lines L4, the virtual line L5 located behind the other vehicle V2c, and the virtual line L6 located in front of the other vehicle V2d as a pattern corresponding to the scene in FIG. 5(B), in ROM 111.

[0033]

In addition, FIG. 5(C) illustrates a scene in which the subject vehicle V1 is about to park at an incline in the parking space PS3, which is a parking area in which the subject vehicle V1 can be parked between another vehicle V2e and another vehicle V2f. In the scene in Fig. 5(C), the lines that define the parking area corresponding to the parking space PS3 are the line L7, the line L8, the line L9 and the line L10, which are the sides that form the rectangular shape of the parking space PS3. The control device 11 of the present embodiment stores the combination of lines L7, L8, L9 and L10, which are lines defining a parking area, as a pattern corresponding to the scene in FIG. 5(C), in ROM 111.

[0034]

In addition, the control device 11 of the present embodiment checks the surroundings of the lines identified as parking area defining lines to detect the presence of any candidate line having a higher probability of being a parking area defining line than the identified lines. For example, if a line with a larger brightness difference is newly identified, the control device 11 detects the newly identified line as a candidate line defining a parking area. On the contrary, when there is no candidate line having a higher probability of being a line that determines the parking area than the identified lines, the control device 11 determines whether the identified lines determine the parking area.

[0035]

In order to determine whether the identified candidate lines determine the parking area, the control device 11 of the present embodiment determines whether the identified candidates satisfy the predetermined conditions. Predetermined conditions, for example: (1) any line having a length equal to or greater than the pre-set distance threshold of the first line (for example, a length corresponding to 15[m] in real distance) is not included in the lines identified as candidate lines, defining the parking zone; (2) any set of lines each having a length equal to or greater than a predetermined second line length distance threshold (e.g., a length corresponding to 7[m] in real distance) is not included in the sets of two adjacent lines within the first a range of distances between lines (for example, a length corresponding to 3 to 5 [m] in real distance) set in advance among the lines identified as candidate lines defining the parking zone, and (3) any set of lines each having a length, equal to or greater than a predetermined third line spacing threshold (e.g., a length corresponding to 15[m] in real distance) is not included in sets of two adjacent lines within a second line spacing range (e.g., a length corresponding to 2, 5 to 5[m] in real distance) set in advance among the lines extracted as candidate lines defining the parking area. If at least one of the above conditions (1), (2) and (3) is not satisfied, the control device 11 of the present embodiment determines that the identified candidate lines do not define a parking area. On the contrary, when all conditions (1) to (3) are satisfied, the control device 11 of the present embodiment determines that the identified candidate lines define a parking area, and detects the parking area.

[0036]

In order to determine whether the subject vehicle V1 can be parked in the detected parking area, the control device 11 according to the present embodiment determines whether there is any obstacle in the parking area using information about the object detected by the ranging device 4. For example, in the scene in FIG. 5(A), the rear ranging device 4c of the subject vehicle V1 is used to detect the presence of any obstacle in the parking area. Also, in the scene in FIG. 5(B), the side ranging device 4b and the rear ranging device 4c of the subject vehicle V1 are used to detect any obstacle in the parking area. Also, in the scene in FIG. 5(C), the side ranging device 4b and the rear ranging device 4c of the vehicle V1 in question are used to detect the presence of any obstacle in the parking area. Then, the control device 11 according to the present embodiment detects a parking area in which there are no obstacles, such as a parking space PS, from among the detected parking areas. On the contrary, when there is any obstacle in the detected parking area, the control device 11 of the present embodiment does not detect this parking area as a parking space PS.

[0037]

Alternatively, in addition to this, the control device 11 of the present embodiment may determine whether the vehicle V1 in question can be parked in the detected parking area by automated (or autonomous) driving. For example, in the case where there is a parking area facing the side of the wall and the lane width required for traffic control by automated (or autonomous) driving cannot be provided, or in the case where there is a parking area surrounded by building pillars, and the information required for traffic control in automatic (or autonomous) driving cannot be detected, the detected parking area does not correspond to a parking zone in which parking by automated (or autonomous) driving is possible. Then, if it is determined that there are no obstacles in the detected parking area and parking by automated (or autonomous) driving is possible, the control device 11 of the present embodiment detects the detected parking area as a parking space PS. On the contrary, when it is determined that parking by automated (or autonomous) driving is not possible although there are no obstacles in the detected parking area, the control device 11 according to the present embodiment does not detect the detected parking area as a parking space PS.

[0038]

To detect a PS parking space, it is not always necessary to detect a parking area. When a certain area satisfies the predetermined conditions, the control device 11 of the present embodiment can detect that area as a parking space PS. For example, the control device 11 of the present embodiment can detect an area within a predetermined range in which there are no obstacles, and detect the area as a parking space PS. In addition, the control device 11 according to the present embodiment can use past travel information when detecting a parking space PS.

[0039]

The parking space display function of the control device 11 according to the present embodiment is a function used to present the parking space PS to the driver by displaying the parking space PS detected by the control device 11 on the display 121. The control device 11 according to the present embodiment uses the parking space display function to present the driver with a parking space PS, for example, with a dotted line border, as illustrated in FIG. 3. The driver selects a parking space PS to park the vehicle V1 in question from among the parking spaces PS shown in FIG. 3. The parking space PS can be selected by touching the display screen 121, for example.

[0040]

The parking route calculation function of the control device 11 of the present embodiment is a function used to calculate the parking route from the current position to the parking space PS to park the subject vehicle V1 in the selected parking space PS. Specifically, in the case where steering wheel rotation is required in the middle of the parking path, the control device 11 of the present embodiment uses the parking path calculation function to set the steering wheel position, the steering wheel of the subject vehicle V1 is turned in the steering wheel position, and generates the parking route to reach the parking space PS via the steering wheel position from the current position of the vehicle in question V1. The parking path generated by the control device 11 of the present embodiment is a path determined in consideration of the turning direction into which the subject vehicle V1 turns on the path from the steering wheel turn position to the parking space, and is set at such a position that the steering direction of the subject vehicle V1 of the vehicle V1 corresponds to the direction of the turn at the time when the vehicle in question is stopped in the steering wheel position.

[0041]

For example, in a driving scene in which the subject vehicle V1 moves from the current position to the parking space PS to park in the parking space PS, the control device 11 according to the comparative example of the present invention calculates a parking route as shown in the plan view of FIG. 6. That is, the control device 11 according to the comparative example of the present invention detects the passage width W and other vehicles V2 with the imaging apparatus 2 and the ranging apparatus 4, and calculates the passage width W1 in which the vehicle V1 in question can move to move from the current position to the parking space PS through the steering position P. Then, the control device 11 sets the number of required steering operations, sets the steering position(s) P, and calculates a parking route to move from the current position to the parking space PS through the steering position steering wheel P. The parking route illustrated in FIG. 6 includes a section Z-A, which is a section in which the subject vehicle V1 moves from the current position to the steering wheel position P at a constant steering angle, and a section Z-B, which is a section in which the subject vehicle travels. V1 from steering wheel position P to parking space PS. As the traveling movement, the subject vehicle V1 performs static steering at the steering wheel position P to orient the steering direction towards the steering direction.

[0042]

In the parking route according to the comparative example of the present invention, the time required for parking becomes longer since the subject vehicle V1 is held in a stopped state during static steering. In order to shorten the time required for parking in the parking route according to the comparative example of the present invention, for example, it is possible to eliminate the static steering at the steering wheel turn position and instead speed up the travel movement to orient the steering direction to the turn direction in the Z-B section. However, such movement causes a large change in the motion of the subject vehicle V1 during acceleration, and therefore a feeling of inconsistency is imposed on the occupant of the subject vehicle V1. In addition, the movement to orient the steering direction in the direction of the turn requires suppression of the vehicle speed of the subject vehicle V1 until the turn is completed.

[0043]

As mentioned above, including the steering position P in the parking route causes the subject vehicle V1 to stop at the steering position P to change direction. The present embodiment differs from the comparative example of the present invention in that it does not perform motion control for orienting the steering direction to the side of the turning direction during the accelerated movement of the subject vehicle V1, and differs in orienting the steering direction to the turning direction in the process of reducing the speed of the vehicle to stop the vehicle in question V1. That is, the control device 11 of the present embodiment orients the steering direction toward the turning direction when the subject vehicle V1 slows down the vehicle's speed to a stop (in other words, to or just before the steering position P), thereby suppressing the sense of inconsistency imposed by on the occupant of the subject vehicle V1, reducing the time required for turning and reducing the time during which the speed of the vehicle of the subject vehicle V1 is suppressed after the steering wheel turning operation.

[0044]

For example, in a driving scene in which the subject vehicle V1 moves from the current position to the parking space PS to park in the parking space PS, the control device 11 of the present embodiment uses the parking route calculation function to calculate the parking route illustrated in the plan view of FIG. . 7. In this way, the control device 11 according to the present embodiment determines the passage width W and other vehicles V2 with the imaging apparatus 2 and the ranging apparatus 4, and calculates the passage width W1 along which the vehicle V1 in question can move to travel. from the current position to the parking space PS through the steering wheel turning position P. Then, the control device 11 of the present embodiment sets the number of necessary steering wheel turning operations, sets the steering wheel turning position(s) P, and calculates the parking route along which the subject vehicle V1 is traveling from the current position to the parking space PS via the steering wheel position P. The parking route illustrated in FIG. 7 includes a first section Z1, which is a section from the current position of the subject vehicle V1 to a position or just before the steering position P, in which the subject vehicle V1 is moving at a constant steering angle, a second section Z2, which is a section , following the first section Z1 and preceding the steering wheel position P, in which the steering wheel position P is included, and the third section Z3, which is the section following the second section Z2, on which the vehicle V1 in question turns in the direction of travel towards the parking lot. place PS. On the parking path shown in FIG. 7, the vehicle V1 in question is moving at a constant steering angle in the first section Z1. However, in the parking path of the present embodiment, the subject vehicle V1 is not required to move at a constant steering angle. In addition, in the parking path of the present embodiment, the subject vehicle V1 can travel with a constant steering angle in the third section Z3.

[0045]

With regard to calculating the width W1 of the passage in which the vehicle V1 in question can move, in the driving scene shown in FIG. 7, the control device 11 of the present embodiment determines the passage width W and the obstacles around the vehicle V1 in question, for example, by using the imaging device 2a located on the front of the vehicle grille, the imaging device 2b located under the left door mirror of the vehicle. means, an imaging device 2c located under the right door mirror of the vehicle, and an imaging device 2d located near the rear bumper of the vehicle, as well as a front ranging device 4a, a side ranging device 4b, and a rear ranging device 4c. If no obstacle is detected, the vehicle V1 in question can move from its current position to the parking space PS within the entire lane width W. In contrast, if any obstacle is detected, the vehicle V1 in question can only use a part of the lane width W to pass. In the motion scene shown in Fig. 7, due to the presence of other vehicles V2 in the driving direction of the subject vehicle V1, the width of the passage in which the subject vehicle V1 can move to move from the current position to the parking space PS, through the steering wheel position P to W1.

[0046]

With regard to setting the steering wheel position P, the control device 11 of the present embodiment sets the steering wheel position P using at least one of the passage width W1 in which the subject vehicle V1 can travel. to move from the current position to the parking space PS through the steering wheel position P calculated by the parking route calculation function, the minimum turning radius of the subject vehicle V1, the steering speed of the subject vehicle V1, and the vehicle speed of the subject vehicle V1. In addition, when setting the steering wheel position P, the control device 11 of the present embodiment can use the entire length and entire width of the considered vehicle V1. The width W1 of the passage in which the subject vehicle V1 can drive and the minimum turning radius, the entire length and the entire width of the subject vehicle V1 are fixed at predetermined values depending on the driving scene and the subject vehicle V1. On the contrary, the steering speed of the subject vehicle V1 and the vehicle speed of the subject vehicle V1 may be set to respective values within a predetermined range.

[0047]

For example, the control device 11 of the present embodiment sets the steering wheel position P so as to minimize the time required to move the subject vehicle V1 from the current position to the parking space PS. For example, even in the case where only one steering wheel operation allows the subject vehicle V1 to move from the current position to the parking space PS, if the movement including three steering wheel operations can shorten the time required to complete the movement, the control device 11 of the present embodiment sets three steering wheel positions P. Alternatively, the control device 11 of the present embodiment may set the steering wheel position P so as to minimize the number of steering wheel turns required to make the subject vehicle V1 move from the current position to the PS parking space. After completing the settings regarding the current position of the subject vehicle V1, the steering wheel position P, and the parking space PS, the control device 11 according to the present embodiment can calculate the parking route.

[0048]

The path in the second section Z2 of the present embodiment is the path determined considering the turning direction of the subject vehicle V1 in the third section Z3 oriented towards the parking space PS from the steering position P, and is set to such that the steering direction of the subject vehicle V1 corresponds to the steering direction at the time when the vehicle V1 in question is stopped in the steering wheel position P. The steering direction is, for example, the orientation of the steering wheel angle of the vehicle V1 in question, or the orientation of the front wheels of the vehicle V1 in question facing forward the vehicle in question V1. For example, in the motion scene shown in FIG. 7, at the end point of the first section Z1, the forward steering angle orientation of the subject vehicle V1 and the forward facing front wheels of the subject vehicle V1 are directed to the left. On the contrary, in the third section Z3 following the steering position P, the steering angle orientation of the steering wheel of the subject vehicle V1 moving backward and the orientation of the front wheels of the subject vehicle V1 facing forward of the subject vehicle V1 are directed to the right. In this case, the control device 11 according to the present embodiment determines that it is necessary to switch the steering direction from left to right before and after the steering wheel position P, and calculates the route in the second section Z2 such that the steering angle orientation of the considered vehicle V1 or the orientation of the front wheels of the subject vehicle V1, facing forward of the subject vehicle V1, is to the right, for example, when the subject vehicle V1 stops at the steering wheel position P. This can suppress such movement that creates a sense of inconsistency in the occupant of the subject vehicle V1. In addition, the time required for turning can be shortened, and the time during which the vehicle speed of the subject vehicle V1 is suppressed after the steering wheel turning operation can be shortened.

[0049]

The route in the second section Z2 of the present embodiment will be sufficient if the steering direction of the subject vehicle V1 traveling along this route corresponds to the turning direction at the time when the subject vehicle V1 stops at the steering wheel position P. Alternatively, the angle steering control of the subject vehicle V1 at the time when the subject vehicle V1 is stopped at the steering wheel position P can be set to the steering angle of the subject vehicle V1 which starts from the steering wheel position P towards the parking space PS by third section. As a result, it is not necessary to change the steering direction when the subject vehicle V1 starts accelerating from a stopped state, and therefore it is not necessary to suppress the vehicle speed of the subject vehicle V1 until the turn is completed.

[0050]

In addition, the control device 11 of the present embodiment can increase and decrease the length of the second portion Z2 according to the width W1 of the passage in which the subject vehicle V1 can travel. For example, the motion scene shown in FIG. 8 is the same as the motion scene illustrated in FIG. 7, except that the width W1 of the passage in which the vehicle V1 in question can travel is narrower than the width W1 in FIG. 7. In this case, the control device 11 of the present embodiment uses the parking route calculation function to calculate the parking route shown in the plan view of FIG. 8, in which the length of the second section Z2 is set to be shorter than the length of the second section Z2 shown in FIG. 7. Increase and decrease in the length of the second section Z2 shown in FIG. 8, possibly by changing the steering speed of the subject vehicle V1 and/or the vehicle speed of the subject vehicle V1. For example, shortening the length of the second section Z2 can be achieved by increasing the steering speed of the subject vehicle V1 and/or decreasing the vehicle speed of the subject vehicle V1. On the contrary, an increase in the length of the second section Z2 can be achieved by reducing the steering speed of the subject vehicle V1 and/or increasing the vehicle speed of the subject vehicle V1 . Alternatively, the length of the second section Z2 may be shortened in advance and subsequently increased in the middle of the parking assistance process, or the length may be increased and decreased during the operation of the parking assistance system.

[0051]

In addition, in the case where the number of required steering operations is two or more, the route in the second section Z2 of the present embodiment can be set every time the subject vehicle V1 turns around. For example, the motion scenes shown in FIG. 9A-9D are the same as the motion scenes illustrated in FIG. 7 and 8, except that the width W1 of the passage on which the vehicle V1 in question can travel is narrower than the width W1 in FIG. 8. In this case, the control device 11 of the present embodiment uses the parking route calculation function to set the three steering positions Pa to Pc so that the vehicle V1 in question can move from the current position to the parking space PS, and then calculates the route in the second section Z2 of the present embodiment at each of the first and second steering wheel turning operations.

[0052]

That is, in the motion scene of FIG. 9A, the control device 11 according to the present embodiment determines the passage width W and other vehicles V2 by the imaging apparatus 2 and the ranging apparatus 4, and calculates the passage width W1 in which the vehicle V1 in question can move to move from the current position to the parking position. position PS through the steering wheel position P. In the driving scene of FIG. 9A, since the width W1 of the passage in which the subject vehicle V1 can travel is small, the subject vehicle V1 cannot directly move to the parking space PS by a single operation of the steering wheel. Therefore, the control device 11 of the present embodiment sets the second steering wheel position Pb shown in FIG. 9B after setting the first steering wheel position Pa. In the second steering wheel turning operation, the vehicle V1 in question moves backward to move to the steering wheel turning position Pb. In this case, since no other vehicle V2 is detected as an obstacle, the control device 11 according to the present embodiment calculates the passage width W as the passage width W2 in which the vehicle in question can travel. In addition, after setting the second steering wheel position Pb, the control device 11 of the present embodiment sets the third steering wheel position Pc shown in FIG. 9C. Like the second steering wheel turning operation, since no other vehicle V2 is detected as an obstacle even in the third steering wheel turning operation, the control device 11 of the present embodiment calculates the aisle width W as the aisle width W2 in which the vehicle in question can travel. Then, the control device 11 of the present embodiment calculates a parking route that the subject vehicle V1 can travel from the current position to the parking space PS through the steering wheel positions Pa, Pb, and Pc.

[0053]

The control device 11 according to the present embodiment calculates a parking route to enable the subject vehicle V1 to move from the current position to the steering wheel position Pa shown in FIG. 9A. The parking path shown in Fig. 9A includes a first section Z1a and a second section Z2a. The route in the second section Z2a is the route determined in view of the steering direction of the subject vehicle V1 moving from the steering wheel position Pa to the steering wheel position Pb, and is set such that the steering direction of the subject vehicle V1 corresponds to the steering direction in the time when the vehicle V1 in question is stopped in the steering wheel position Pa. In this case, the control device 11 of the present embodiment determines that it is necessary to switch the steering direction from left to right before and after the steering position Pa, and calculates the route in the second section Z2a such that the steering angle orientation of the vehicle in question V1 or the orientation front wheels of the subject vehicle V1 facing forward of the subject vehicle V1 is directed to the right, for example, when the subject vehicle V1 is stopped at the steering wheel position Pa.

[0054]

The control device 11 according to the present embodiment calculates a parking route to enable the subject vehicle V1 to move from the steering wheel position Pa to the steering wheel position Pb shown in FIG. 9b. The parking path shown in Fig. 9B includes a first section Z1b and a second section Z2b. The route in the second segment Z2b is the route determined in view of the steering direction of the subject vehicle V1 moving from the steering wheel position Pb to the steering wheel position Pc, and is set such that the steering direction of the subject vehicle V1 corresponds to the steering direction in the time when the vehicle V1 in question is stopped in the steering wheel position Pb. In this case, the control device 11 of the present embodiment determines that it is necessary to switch the steering direction from right to left before and after the steering wheel position Pb, and calculates the route in the second section Z2b such that the steering angle orientation of the vehicle in question V1 or the orientation front wheels of the subject vehicle V1 facing forward of the subject vehicle V1 points to the left, for example, when the subject vehicle V1 is stopped at the steering wheel position Pb.

[0055]

The control device 11 according to the present embodiment calculates a parking route to enable the subject vehicle V1 to move from the steering wheel position Pb to the steering wheel position Pc shown in FIG. 9C. The parking path shown in Fig. 9C consists of the first section Z1c. In this case, the subject vehicle V1 can move from the steering position Pb to the steering position Pc with a constant steering angle, and no steering is required at the steering position Pc. Accordingly, it is not necessary to set the second section Z2 of the present embodiment. Then, the control device 11 of the present embodiment calculates a parking route to allow the subject vehicle V1 to move backward and forward from the steering wheel position Pc to the parking space PS shown in FIG. 9D. The parking path shown in Fig. 9D consists of a third section Z3.

[0056]

In addition, the control device 11 of the present embodiment can provide parking assistance even in parallel parking. For example, even in the motion scene shown in FIG. 10, in which the subject vehicle V1 is about to parallel park in the parking space PS between other vehicles V2g and V2h, the control device 11 of the present embodiment uses the parking route calculation function to calculate the parking route. That is, the control device 11 according to the present embodiment determines the passage width W of other vehicles V2g and V2h with the imaging apparatus 2 and the ranging apparatus 4, and calculates the passage width W1 in which the vehicle V1 in question can move to move from current position to the parking space PS via the steering wheel position P. In FIG. 10, the width W1 of the passage in which the considered vehicle V1 can move is equal to the detected width W.

[0057]

Then, the control device 11 of the present embodiment sets the number of necessary steering wheel rotations, sets the steering wheel positions P, and calculates the parking route that the subject vehicle V1 travels from the current position to the parking space PS via the steering wheel position P. In the driving scene parallel parking shown in Fig. 10, the control device 11 of the present embodiment sets one steering wheel position P. Then, the control device 11 of the present embodiment calculates a parking route for driving from the current position to the parking space PS through the steering wheel position P. The parking route for parallel parking, shown in FIG. 10 includes a first section Z1, a second section Z2 and a third section Z3. In this parallel parking, the steering direction of the subject vehicle V1 is switched from left to right before and after the steering position P. Therefore, the control device 11 calculates the route in the second section Z2 so that, the steering direction of the subject vehicle V1 is changed to the right when the considered the vehicle V1 is stopped in steering wheel position P.

[0058]

The driving motion scheduling function of the control device 11 according to the present embodiment is a motion motion scheduling function that allows the subject vehicle V1 to be parked in the parking space PS along the parking route calculated by the parking route calculation function. The control device 11 of the present embodiment uses the motion planning function to plan the control of the vehicle speed and steering angle of the subject vehicle V1 so that the subject vehicle V1 moves to the parking space PS along the parking route.

[0059]

Fig. 11 is a timing chart illustrating a driving plan in a case where the subject vehicle V1 moves from the current position to the parking space PS, for example, along the parking route according to the comparative example of the present invention shown in FIG. 6. FIG. 11(A) is a time chart of vehicle speed, and FIG. 11 (B) is a steering angle timing chart. In FIG. 11(A), the horizontal axis represents time and the vertical axis represents vehicle speed. When the vehicle speed is a positive value, the considered vehicle V1 moves forward. When the vehicle speed is a negative value, the considered vehicle V1 moves backward. The horizontal axis in Fig. 11(B) represents time and corresponds to the horizontal axis in FIG. 11(A). The vertical axis in Fig. 11 (B) represents the steering angle. When the steering angle is positive, the vehicle V1 in question turns left. When the steering angle has a negative value, the considered vehicle V1 turns right.

[0060]

The parking path shown in Fig. 6 includes a section Z-A in which the subject vehicle V1 moves from the current position to the steering position P, a steering position P in which the subject vehicle V1 performs static steering, and a section ZB in which the subject vehicle V1 moves from steering wheel position P to parking space PS. In FIG. 11, the vehicle speed and steering angle in section TA, the vehicle speed and steering angle in section TB, and the vehicle speed and steering angle in section TC correspond to the movement of the considered vehicle V1 in section ZA, the static steering of the considered of the vehicle V1 in the steering wheel position P and the movement when the vehicle V1 in question moves to the section ZB, respectively. In the parking path according to the comparative example of the present invention, due to the static steering performed on the section TB, the subject vehicle V1 is kept in a stopped state while the steering direction is oriented towards the turning direction. Accordingly, it takes time to complete the moving motion. The static steering operation causes wear on the wheels and generates heat in the steering actuator, which places stress on the vehicle V1 in question.

[0061]

On the contrary, the control device 11 of the present embodiment generates the travel motion plan shown in the timing chart in FIG. 12, for example, when the subject vehicle V1 moves from the current position to the parking space PS along the parking path of the present embodiment illustrated in FIG. 7. The vehicle speed designation method in FIG. 12(A) and the steering angle in FIG. 12(B) corresponds to that of FIG. 11(A) and FIG. 11(B).

[0062]

The parking path shown in Fig. 7 includes a first section Z1, a second section Z2 and a third section Z3. In FIG. 12, the vehicle speed and steering angle in section T1, the vehicle speed and steering angle in section T2, and the vehicle speed and steering angle in section T3 correspond to the movement when the vehicle V1 under consideration moves to the first section Z1 shown. in fig. 7, the movement of the considered vehicle V1 in the second section Z2 shown in FIG. 7 and the moving motion of the vehicle V1 in question in the third section Z3 shown in FIG. 7 respectively. On the parking path shown in FIG. 7, the turn from left to right occurs before the vehicle speed becomes 0 at the steering wheel position P, that is, before the vehicle V1 in question is stopped. Therefore, it is not necessary to perform the static steering required in the parking route according to the comparative example of the present invention. The subject vehicle V1 can quickly start moving backward after stopping at the steering wheel position P. This can reduce the time required for parking. In addition, since during the acceleration in section T3 in FIG. 12 no rotation required, acceleration at a higher level than in FIG. 11, possibly in section T3. In this way, the time required for parking can be reduced.

[0063]

In addition, the control device 11 of the present embodiment generates a moving motion plan shown in the timing chart of FIG. 13, for example, when the subject vehicle V1 moves from the current position to the parking space PS along the parking path of the present embodiment shown in FIG. 8. The method of designating the vehicle speed in FIG. 13(A) and the steering angle of FIG. 13(B) corresponds to that of FIG. 11(A) and FIG. 11(B).

[0064]

The parking path shown in Fig. 8 is similar to the parking route shown in FIG. 7 including the first section Z1, the second section Z2 and the third section Z3, but the second section Z2 shown in FIG. 8 is shorter than the second section Z2 shown in FIG. 7. In FIG. 13, the vehicle speed and steering angle in section T4, the vehicle speed and steering angle in section T5, and the vehicle speed and steering angle in section T6 correspond to the movement when the considered vehicle V1 is moving in the first section Z1 shown. in fig. 8 and the moving motion of the vehicle V1 in question in the second section Z2 shown in FIG. 8 and the moving motion of the vehicle V1 in question in the third section Z3 shown in FIG. 8 respectively. The travel motion plan illustrated in FIG. 13 coincides with the movement plan for moving in FIG. 12, except for section T5. In the travel motion plan shown in FIG. 13, in order to shorten the length of the second section Z2, in section T5 it is intended to stop the vehicle V1 in question with an acceleration greater than in section T2 in FIG. 12 and turn at a higher steering speed. This can shorten the length of the second portion Z2 shown in FIG. 8 compared to the length of the second section Z2 shown in FIG. 7. Because the travel plan illustrated in FIG. 13 includes section T5 which is shorter than section T2, the time required for parking can be shortened compared to the driving plan shown in FIG. 12.

[0065]

Next, the parking assistance process of the control device 11 according to the present embodiment will be described with reference to FIG. 14 to 15. FIG. 14 is an exemplary flowchart illustrating the basic process of parking assistance of the present embodiment. Fig. 15 is a flowchart illustrating an exemplary subroutine of step S6 in FIG. 14. The control device 11 executes the motion control processing described below at predetermined intervals. In the following description, it is assumed that the control device 11 of the present embodiment refers to environmental information when determining a driving scene in which the subject vehicle V1 is parked in a parking space PS and executes parking assistance programs.

[0066]

In step S1 in FIG. 14, the control device 11 according to the present embodiment uses the environmental information collection function to display the environment of the vehicle in question with the imaging device 2, and acquires image data including every obstacle existing around the vehicle in question. In addition, in step S1, the control device 11 of the present embodiment uses the environmental information gathering function to detect any obstacle, pedestrian or other vehicle around the vehicle V1 in question, the position of each object, and the distance to each object with the ranging device 4.

[0067]

In step S2, the control device 11 of the present embodiment uses the parking space detection function to cause the image processing device 3 to create a bird's eye view image IM1 from the images acquired by the imaging device 2. In step S3, the control device 11 of the present embodiment uses the parking space detection function to detect the parking area from the bird's eye view image IM1 and detect the parking space PS from the parking area with the imaging device 2 and the ranging device 4.

[0068]

In step S4, the control device 11 according to the present embodiment uses the parking space display function to present the parking spaces PS to the driver through the display 121. In step S5, the control device 11 according to the present embodiment determines whether the driver has selected any parking space PS on in which the vehicle V1 in question is to be parked, from among the parking spaces PS. If the driver has not selected any parking space PS in which the subject vehicle V1 is to be parked from among the parking spaces PS (NO in step S5), the processing returns to step S4, in which the control device 11 of the present embodiment presents the parking spaces to the driver. PS places. On the contrary, when the driver has selected the parking space PS in which the subject vehicle V1 is to be parked from among the parking spaces PS (YES in step S5), the processing proceeds to step S6.

[0069]

In step S6, the control device 11 according to the present embodiment uses the parking route calculation function to calculate the parking route to enable the subject vehicle V1 to move from the current position to the parking space PS selected by the driver. In step S7, the control device 11 according to the present embodiment uses a movement planning function to plan a movement when the subject vehicle V1 to be parked travels along the calculated parking route. Then, in step S8, the control device 11 according to the present embodiment performs parking assistance for the subject vehicle V1 to realize the planned movement along the calculated parking route using the vehicle controller 5, the drive system 6, the vehicle speed sensor 7 and the sensor 8 steering angle.

[0070]

Then, the exemplary routine of step S6 in FIG. 14 will be described with reference to FIG. 15.

[0071]

At step S61 in FIG. 15, the control device 11 of the present embodiment uses the parking route calculation function to detect the driving width W and any obstacle such as another vehicle V2 with the imaging device 2 and the ranging device 4. In step S62, the control device 11 of the present embodiment uses the parking route calculation function to calculate the width W1 or W2 of the passage on which the vehicle in question can travel.

[0072]

In step S63, the control device 11 according to the present embodiment uses the parking route calculation function to set the number of steering wheel turns using at least one of the width W1 of the passage in which the subject vehicle V1 can travel or the minimum turning radius of the subject vehicle V1, the steering speed of the vehicle in question V1, and the vehicle speed of the vehicle in question V1. In addition, in step S64, the control device 11 according to the present embodiment uses the parking route calculation function to set each steering wheel position P with reference to the number of set steering wheel operations.

[0073]

In step S65, the control device 11 according to the present embodiment uses the parking route calculation function to determine the turning direction at the steering wheel turn position. In step S66, the control device 11 according to the present embodiment uses the parking route calculation function to calculate a route from the current position to the steering wheel position P in which the steering direction of the subject vehicle V1 corresponds to the steering direction based on the predetermined steering position P and given direction of rotation. If two or more steering wheel positions are set, in step S67, the control device 11 of the present embodiment uses the parking route calculation function to calculate a route from the steering wheel position to the next steering wheel position in which the steering direction of the subject vehicle V1 corresponds to turning direction. In FIG. 15, step S67 is indicated by a dotted line because it is an arbitrary step. Then, in step S68, the control device 11 according to the present embodiment uses the parking route calculation function to calculate the route from the steering wheel position to the parking space.

[0074]

In step S69, the control device 11 according to the present embodiment determines whether a parking route has been calculated to enable the subject vehicle V1 to move from the current position to the parking space PS with the parking route calculation function. If a parking route for enabling the subject vehicle V1 to move from the current position to the parking space PS has been calculated (YES in step S69), the processing proceeds to step S7 in FIG. 14, in which the control device 11 according to the present embodiment uses the travel planning function to plan the movement of the subject vehicle V1 so that it is parked along the calculated parking route. On the contrary, when the parking route for enabling the subject vehicle V1 to move from the current position to the parking space PS has not been calculated (NO in step S69), the processing returns to step S63 in which the control device 11 of the present embodiment uses the parking route calculation function to set the number of steering wheel turns again.

[0075]

As described above, in the parking assistance device 1 and the parking assistance method according to the present embodiment, the parking space PS of the subject vehicle V1 is detected, the steering wheel position, while the steering wheel is turned to the steering wheel position P, a parking route is created to reach from the current position of the subject vehicle V1 to the parking space PS through the steering wheel position P, and the subject vehicle V1 is steered so as to drive autonomously along the parking route. The parking route includes the route from the current position of the vehicle V1 in question to the steering wheel position P, which is determined taking into account the direction of turn in which the vehicle V1 in question is turning in the driving route from the steering wheel position P to the parking space PS and is set as such so that the steering direction of the subject vehicle V1 corresponds to the turning direction at the time when the subject vehicle V1 is stopped at the steering wheel turning position P. Accordingly, the steering direction is oriented towards the turning direction when the subject vehicle V1 reduces the speed of the vehicle to stop. This can suppress the sense of inadequacy imposed on the passenger by the movement of the vehicle in question V1. In addition, it is possible to suppress the amount of static steering when the subject vehicle V1 turns, reduce the time required for turning, and reduce the time required for parking. In addition, the steering direction of the subject vehicle V1 is already oriented to the turning direction at the time when the subject vehicle V1 is stopped to turn the steering wheel (wheel angle limitation). Therefore, the amount of rotation required after reaching the steering wheel position can be limited. In addition, suppressing the amount of rotation required after reaching the steering wheel position can shorten the time during which the vehicle speed of the subject vehicle V1 is suppressed, and thus shorten the time required for parking.

[0076]

In addition, in the parking assistance apparatus 1 and the parking assistance method according to the present embodiment, the steering angle of the subject vehicle V1 at the time when the subject vehicle V1 is stopped at the steering wheel position P is set to be equal to the steering angle when the subject vehicle the vehicle V1 starts moving towards the parking space PS from the steering wheel position P. This can shorten the time required for parking because there is no need to switch the steering direction when the vehicle V1 in question starts to accelerate from a stopped state, and there is no need to suppress the speed of the vehicle. the vehicle under study V1, which is the subject of the study, until the turn is completed. In addition, even when the subject vehicle V1 is stopped at a position outside the steering wheel P position, since the subject vehicle V1 exists on the route of the third section Z3, it is not necessary to switch the steering direction when the subject vehicle V1 starts to accelerate from the stopped state.

[0077]

In addition, in the parking assistance device 1 and the parking assistance method according to the present embodiment, the parking path includes at least a first section Z1, which is a section from the current position of the subject vehicle V1 to the position before the steering wheel position P, at which the subject vehicle is moving at a constant steering angle, a second section Z2 which is a section following the first section Z1 and preceding the steering position P in which the steering wheel position P is on, and a third section Z3 which is the section following the second section Z2, in which the vehicle V1 in question turns in the direction of travel towards the parking space PS. This can suppress the feeling of inadequacy imposed on the passenger and shorten the time required for parking, and hence the parking route can be calculated accordingly.

[0078]

In addition, in the parking assistance device 1 and the parking assistance method according to the present embodiment, the length of the second portion Z2 is set relatively short when the passage width W1 allows the subject vehicle V1 to move to move from the current position of the subject vehicle to the parking space PS through the position steering wheel P, is narrow compared to the case where the passage width W1 is wide. Thus, even when the passage width W1 is small, it is possible to suppress the amount of static steering when the subject vehicle V1 turns, reduce the time required for turning, and reduce the time required for parking. In addition, even when the passage width W1 is small, it is possible to suppress the amount of turn required after reaching the steering position, shorten the time during which the speed of the vehicle of the subject vehicle V1 under investigation is suppressed, and shorten the time required for parking.

[0079]

In addition, in the parking assistance device 1 and the parking assistance method according to the present embodiment, the length of the second section Z2 is set relatively smaller when the width W1 of the passage in which the subject vehicle V1 can move to move from the current position to the parking space PS through the position steering wheel P is less than the set value compared with the case where the passage width W1 is equal to or greater than the set value. Thus, even when the passage width W1 is small, it is possible to suppress the amount of static steering when the subject vehicle V1 turns, reduce the time required for turning, and reduce the time required for parking. In addition, even when the passage width W1 is small, it is possible to suppress the amount of turn required after reaching the steering position, shorten the time during which the speed of the vehicle of the subject vehicle V1 under investigation is suppressed, and shorten the time required for parking. The set value to be set in advance for the passage width W1 may be set to the corresponding value using the minimum turning radius, the entire length and entire width of the vehicle V1 in question, or the like.

[0080]

In addition, in the parking assistance device 1 and the parking assistance method according to the present embodiment, the narrower the width W1 of the passage in which the subject vehicle V1 can move to move from the current position to the parking space PS through the steering wheel position P, the shorter the predetermined length of the second section Z2. This can suppress the amount of static steering when the subject vehicle V1 turns, shorten the time required for turning, and shorten the time required for parking even when the passage width W1 is narrow. In addition, it can suppress the amount of rotation required after reaching the steering wheel position, shorten the time during which the vehicle speed of the subject vehicle V1 is suppressed, and shorten the time required for parking even if the lane width W1 is narrow.

[0081]

Furthermore, in the parking assistance device 1 and the parking assistance method according to the present embodiment, the steering speed of the subject vehicle V1 is set relatively higher and/or the vehicle speed of the subject vehicle V1 is set relatively lower, in the case of setting the length of the second section Z2 is relatively smaller/shorter . This can suppress the amount of static steering when the subject vehicle V1 turns, shorten the time required for turning, and shorten the time required for parking even when the passage width W1 is narrow. In addition, it can suppress the amount of turn required after reaching the steering wheel position, shorten the time during which the vehicle speed of the subject vehicle V1 is suppressed, and shorten the time required for parking even if the lane width W1 is narrow.

[0082]

In addition, in the parking assist device 1 and the parking assist method according to the present embodiment, the steering speed of the subject vehicle V1 is set relatively higher and/or the vehicle speed of the subject vehicle V1 is set relatively lower when the driving width W1, in at which the subject vehicle V1 can move to move from the current position to the parking space PS through the steering wheel position P, less than the predetermined value. This can suppress the amount of static steering when the subject vehicle V1 turns, shorten the time required for turning, and shorten the time required for parking even when the passage width W1 is narrow. In addition, it can suppress the amount of turn required after reaching the steering wheel position, shorten the time during which the vehicle speed of the subject vehicle V1 is suppressed (decreased), and shorten the time required for parking even if the lane width W1 is narrow.

[0083]

In addition, in the parking assistance device 1 and the parking assistance method according to the present embodiment, the narrower the width W1 of the passage in which the subject vehicle V1 can move to move from the current position to the parking space PS through the steering wheel position P, the higher the set steering speed of the considered vehicle V1 and/or the relatively lower the set speed of the vehicle of the considered vehicle V1 . This can suppress (reduce) the amount of static steering when the subject vehicle V1 turns, shorten the time required for turning, and shorten the time required for parking even when the lane width W1 is small. In addition, it can suppress (reduce) the amount of turn required after reaching the steering wheel position, shorten the time during which the vehicle speed of the subject vehicle V1 is suppressed (reduce), and reduce the time required for parking even if the lane width W1 is narrow.

[0084]

In addition, in the parking assistance apparatus 1 and the parking assistance method according to the present embodiment, the length of the second portion Z2 is set using at least the passage width W1, the minimum turning radius of the subject vehicle V1, the steering speed of the subject vehicle V1, and the vehicle speed means of the considered vehicle V1 . This can shorten the time required for turning and may shorten the time required for parking, and therefore the length of the second section Z2 can be calculated accordingly.

[Description of tags]

[0085]

1000 Parking assistance

1 parking aid

11 Control unit

111ROM

112 CPU

113 RAM

12 Output device

121 Display

2 Imaging device

2a Imaging device located on the front of the vehicle grille

2b Imaging device located under the left exterior mirror of the vehicle

2c Imaging device located under the right door mirror of the vehicle

2d Imaging device located near the rear bumper of the vehicle

3 Image processing device

4 - Ranging device

4a Front ranging device

4b Side ranging device

4c Rear ranger

5 Vehicle controller

6 Drive system

7 Vehicle speed sensor

8 Steering Angle Sensor

V1 Vehicle in question

V2, V2a, V2b, V2c, V2d, V2e, V2f, V2g, V2h Other vehicle

VP - Virtual Viewpoint

IM1 Bird's eye view

IM2 Surveillance Image

PS, PS1, PS2, PS3 Parking space

L1, L2, L3, L4, L5, L6, L7, L8, L9, L10 Line

P, P, Pa, Pb, Pc Steering wheel position

W Passage width

W1, W2 Width of the passage in which the considered vehicle can move

Z1, Z1a, Z1b, Z1c First section

Z2, Z2a, Z2b Second section

Z3 Third section

T1, T4 Section corresponding to the first section

T2, T5 Section corresponding to the second section

T3, T6 Section corresponding to the third section

Z-A A section for moving the vehicle in question from the current position to the steering wheel position P with a constant steering angle.

Z-B Area for moving the vehicle V1 in question from the steering wheel position P to the parking space PS

T-A Section corresponding to section Z-A

TB Section corresponding to the static steering of the vehicle in question in the steering wheel position P

T-C Section corresponding to section Z-B.

Claims (31)

1. A method of parking assistance, comprising: detecting a parking space for parking the vehicle in question; setting the position of the steering wheel, and the steering wheel is rotated to the position of the steering wheel; generating a parking route to reach from the current position of the vehicle in question to the parking space by the position of the steering wheel; And driving the vehicle in question for autonomous movement along the parking route, wherein the parking assistance method further comprises: determining the turning direction in which the considered vehicle turns along the route from the position of turning the steering wheel to the parking space; And forming a route from the current position of the considered vehicle to the position of the steering wheel in such a way that the steering direction of the considered vehicle corresponds to the direction of the turn at the time when the considered vehicle is stopped in the position of the steering wheel. 2. The parking assistance method of claim 1, wherein the steering angle of the subject vehicle at the time when the subject vehicle is stopped at the steering wheel position is equal to the steering angle when the subject vehicle starts moving towards the parking space from the steering wheel position. 3. The parking assistance method according to claim 1 or 2, comprising: setting the steering speed of the subject vehicle to relatively higher and/or setting the vehicle speed of the subject vehicle to relatively lower when the width of the passage allowing the subject vehicle to move to move from the current position of the subject vehicle to the parking space through the steering position wheel, is narrow compared with the case where the width of the passage, allowing the subject vehicle to move from the current position of the subject vehicle to the parking space through the position of the steering wheel, is wide. 4. The parking assistance method according to any one of paragraphs. 1-3, in which the parking itinerary includes at least: a first section, which is a section from the present position of the subject vehicle to a position before the steering position, where the subject vehicle is moving at a constant steering angle; a second section, which is a section following the first section and preceding the steering position, which includes the steering position; And the third section, which is the section following the second section, where the considered vehicle is turned in the direction of travel towards the parking space. 5. The parking assistance method according to claim 4, comprising: setting a relatively shorter length of the second section when the passage width allowing the subject vehicle to move to move from the current position of the subject vehicle to the parking space through the steering wheel position is narrow, compared with the case where the passage width allowing the subject vehicle to move to move from the current position of the vehicle in question to the parking space through the position of the steering wheel, is wide. 6. The parking assistance method according to claim 5, comprising: setting the steering speed of the subject vehicle to relatively higher; and/or setting the vehicle speed of the subject vehicle to relatively lower when the length of the second section is set to be relatively short. 7. The parking assistance method according to any one of paragraphs. 4-6 containing: setting the length of the second section using at least the width of the passage that allows the considered vehicle to move to move from the current position of the considered vehicle to the parking space through the position of the steering wheel, the minimum turning radius of the considered vehicle, the steering speed of the considered vehicle, and the speed of the vehicle means of the vehicle in question. 8. A parking aid device, comprising a control device configured to: detecting a parking space for parking the vehicle in question; setting the position of the steering wheel, while the steering wheel is rotated to the position of the steering wheel; generating a parking route to reach the parking space from the current position of the vehicle in question through the position of the steering wheel; And control of the vehicle in question for autonomous movement along the parking route, wherein the control device is additionally configured to: determining the direction of turn in which the considered vehicle turns along the route from the position of turning the steering wheel to the parking space; And forming a route from the current position of the considered vehicle to the position of the steering wheel in such a way that the steering direction of the considered vehicle corresponds to the direction of the turn at the time when the considered vehicle is stopped in the position of the steering wheel.

Images