RU2804496C1 - Parking assistance method and a parking assistance device - Google Patents

Abstract

FIELD: parking assistance.

SUBSTANCE: parking method and a parking assistance device. In a method for performing parking assistance for a subject vehicle, a parking assistance device is used, comprising a controller configured to output assistance information for a person in the subject vehicle based on movement information of the subject vehicle detected by a sensor, this method is to be performed by the controller and comprises the steps of: determining, based on the traffic information, whether the parking of the subject vehicle is performed in a manual mode or an automatic mode in which the parking control is performed to park the subject vehicle in a target parking space; when the parking of the subject vehicle is performed manually, detecting the state of parking of the subject vehicle; determining, based on the state of execution of the parking, whether or not to park again in the target parking space; when it is determined that parking in the target parking space is needed again, outputting to the user interface indication information for switching the parking mode of the subject vehicle from manual mode to automatic mode; and, when the parking control is executed in the automatic mode, no control is executed to output the indication information for switching the parking mode.

EFFECT: monitoring the mode and managing the parking of the vehicle.

21 cl, 10 dwg

Description

TECHNICAL FIELD

[0001] The present invention relates to a parking assistance method and a parking assistance device for assisting the parking of a subject vehicle.

BACKGROUND OF THE ART

[0002] Patent Document 1 describes a vehicle control system that is configured to: determine whether or not a vehicle is parked in a specified parking space; and when the vehicle is not properly parked in the parking space, alerts the user that the parking space is different and prompts the user to retry parking.

Prior Art Document

Patent document

[0003]

Patent Document 1 JP2018-160125A

SUMMARY OF THE INVENTION

Problems solved by the invention

[0004] However, in the vehicle control system of Patent Document 1, when the user manually re-attempts parking after receiving a warning, the vehicle may again park outside the parking space depending on the surrounding situation and the driving skill of the user, which may be problematic.

[0005] An object to be solved by the present invention is to provide a parking assistance method and a parking assistance device that are capable of assisting parking so that when manual parking fails and parking is required again at the target parking space, the occupant of the subject vehicle is indicated to be aware that the parking mode is switched to automatic mode to allow the subject vehicle to park in the target parking space.

Tools for solving problems

[0006] The parking assistance method and the parking assistance device according to the present invention solve the above-mentioned object by determining, based on the parking execution state, whether or not parking in the target parking space is necessary again when the subject vehicle is parked in a manual mode. , and provides guidance information for switching the parking mode from the manual mode to the automatic mode.

Invention effect

[0007] According to the present invention, an effect can be obtained that when parking towards a target parking space is required again after parking in manual mode, the occupant of the vehicle in question can be notified so that he knows that the parking mode is switches to automatic mode.

BRIEF DESCRIPTION OF THE DRAWINGS

[0008]

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

Fig. 2 is a flowchart illustrating a parking assistance method according to the first embodiment of the present invention.

Fig. 3 is a diagram schematically illustrating an example in which a determination is made that parking in a target parking space is needed again in the parking assistance method shown in FIG. 2.

Fig. 4 is a diagram illustrating a display screen that presents guidance information for switching the parking mode of the subject vehicle from a manual mode to an automatic mode in the parking assistance method shown in FIG. 2.

Fig. 5 is a flowchart illustrating a parking assistance method according to a second embodiment of the present invention.

Fig. 6 is a diagram schematically illustrating an example in which a determination is made that parking in a target parking space is needed again in the parking assistance method shown in FIG. 5.

Fig. 7 is a flowchart illustrating a parking assistance method according to a third embodiment of the present invention.

Fig. 8 is a flowchart illustrating a parking assistance method according to a fourth embodiment of the present invention.

Fig. 9 is a flowchart illustrating a parking assistance method according to a fifth embodiment of the present invention.

Fig. 10 is a diagram illustrating an example of a parking turn number history that is used to calculate a parking turn number threshold value in the parking assistance method shown in FIG. 9.

Embodiment(s) of the invention

[0009]

First embodiment

Description will be made with reference to FIG. 1 to 4 for the parking assistance device 100 according to the first embodiment of the present invention and the parking assistance method using the parking assistance device 100.

First, the configuration of the parking assistance device 100 installed in the vehicle will be described with reference to FIG. 1. The parking assistance device 100 has one or more computers and software installed on the computers. In particular, the parking assistance device 100 has a ROM that stores control programs for the subject vehicle to operate autonomously to park in a designated target parking space, a CPU that executes the programs stored in the ROM, and a RAM that serves as an accessible storage devices.

[0010] As shown in FIG. 1, the parking assistance device 100 has an automatic parking control unit 10, a display 13 as a user interface, and a controller 15. The controller 15 has a parking target frame setting unit 1, a parking start location setting unit 2, a current location estimation unit 3, a detection unit 4 target parking frame, target parking state calculation unit 5, parking execution state detection unit 11, and parking state determination unit 12. Regardless of whether the parking mode of the vehicle in question is an automatic mode or a manual mode, target parking frame setting unit 1, parking start location setting unit 2, current location estimation unit 3, target parking frame detection unit 4, target parking state calculation unit 5 , the parking execution state detection unit 11 and the parking state detection unit 12 perform respective functions. In addition, the controller 15 outputs assistance information for the occupants of the subject vehicle based on the movement information of the subject vehicle detected by various sensors 16 such as the GPS unit, the gyroscopic sensor and the vehicle speed sensor. The display 13 presents guidance information based on auxiliary information that is output by the controller 15 to the occupants of the subject vehicle. The occupants of the vehicle in question include the driver and passengers other than the driver.

[0011] When the parking mode of the subject vehicle is an automatic mode, the automatic parking control unit 10 performs the automatic parking function to autonomously control the steering actuator and the accelerator actuator of the subject vehicle. The automatic parking control unit 10 has a control unit 6 for following the parking route, a steering wheel angle control unit 7, a target speed generation unit 8, and a speed control unit 9. The automatic parking control unit 10 has the above-described automatic mode and the manual mode based on the input command based on the operation of the vehicle in the human vehicle to control the steering actuator and the accelerator actuator of the subject vehicle. The automatic parking control unit 10 has a switching function for switching between an automatic mode and a manual mode.

[0012] The target parking frame setting unit 1 searches for a parking frame existing near the subject vehicle. The parking frame is composed of straight lines, such as white lines as parking lines, and defines a parking space. When a plurality of parking frames are detected, the target parking frame setting unit 1 causes the operator to select the desired parking frame from the parking frames in which parking is possible, and outputs location information of the selected target parking frame (for example, relative location coordinates from the current location of the subject vehicle and latitude /longitude) to block 5 for calculating the target parking state.

[0013] The parking start location setting unit 2 calculates from which location the automatic parking control should be started so that the subject vehicle can park inside the parking frame set by the target parking frame setting unit 1, and sets the parking start location. The parking start location setting information set by the parking start location setting unit 2 is output to the parking target state calculation unit 5.

[0014] The current location estimation unit 3 estimates the current location of the subject vehicle based on the movement information of the subject vehicle detected by the sensors 16 such as the GPS unit, the gyroscopic sensor and the vehicle speed sensor. In particular, the current location estimation unit 3 uses the GPS unit to detect radio waves transmitted through transmissions of a plurality of satellites and periodically obtains location information about the vehicle in question. Then, the current location estimation unit 3 estimates the current location of the subject vehicle based on the acquired location information of the subject vehicle, the angle change information obtained from the gyroscopic sensor, and the vehicle speed obtained from the vehicle speed sensor. The location information of the vehicle in question, estimated by the current location estimation unit 3, is output to the parking progress state detection unit 11 and the parking route following control unit 6 of the automatic parking control unit 10 at predetermined time intervals.

[0015] The target parking frame detection unit 4 has a plurality of cameras that capture images around the subject vehicle. The target parking frame detecting unit 4 detects the target parking frame that is set by the target parking frame setting unit 1, and outputs information such as the shape and size of the target parking frame and information such as the shape and size of the area to the target parking state calculation unit 5 around a target parking frame in which the vehicle in question can move.

[0016] The target parking state calculation unit 5 calculates the target parking state based on the size of the vehicle in question (such as the width of the vehicle, the length of the vehicle and the minimum turning radius) that is previously stored, the target parking frame information that is obtained from the unit 1 setting the target parking frame and the target parking frame detection unit 4, and the parking start location, which is set by the parking start location setting unit 2. The target parking state refers to the state of the vehicle for parking the subject vehicle in the target parking space. That is, the target parking state is the state of the vehicle to be targeted at one or more times from the current location of the subject vehicle to the target parking space. The target parking state includes a target parking space, a target parking trajectory for the subject vehicle to reach the target parking space, a target turning location for parking the subject vehicle to park at the target parking space, a target position angle at the target turning location for parking, and the threshold number of turns for the vehicle in question to park in the target parking space. Block 5 for calculating the target parking state outputs information about the target parking state to block 6 for controlling following the parking route and block 8 for generating the target speed of block 10 for controlling automatic parking and block 12 for determining the parking state.

[0017] The parking execution state detection unit 11 determines, based on the motion information detected by the sensors 16 and the like, whether or not the vehicle in question is parked in a manual mode. When parking of the subject vehicle is performed in the manual mode, the parking execution state detection unit 11 refers to the motion information and the current location information, which is estimated by the current location estimation unit 3, to detect as the parking execution state the state of the vehicle at one or more locations. , or at points in time from the start to the completion of the parking operation of the vehicle in question. The parking execution state is the state of the subject vehicle when parking the subject vehicle is performed in manual mode. The parking execution state includes the current location of the subject vehicle, the observed actual parking location when the subject vehicle completes parking, the actual parking trajectory associated with the actual movement of the subject vehicle, the actual parking turn location due to the actual parking operation of the subject vehicle, the actual a position angle at the actual parking turning location and the actual number of parking turns due to the actual parking operation of the subject vehicle. “Detecting a parking execution state” includes storing the detected parking execution state as a history and referring to the stored past history when detecting the current parking execution state. "One or more locations or times from the start to completion of the parking operation of the subject vehicle" includes at least one or two or more of (1) the initial location or time at which the subject vehicle begins the parking operation, ( 2) a parking location or stopping time at which the subject vehicle stops after parking is completed, and (3) a parking turning location or timing when a parking turning operation is performed in the middle of a parking operation.

[0018] When parking the vehicle in question is performed in the manual mode, the parking state determining unit 12 determines, based on the parking execution state detected by the parking execution state detection unit 11, whether or not it is necessary to park in the target parking space again (whether or not it is necessary to retry parking). The case in which “parking in the target parking space is required again” refers to the case in which it is determined that the process of performing automatic parking is required again after parking the subject vehicle is performed in the manual mode, that is, the case where the subject the vehicle failed to park in manual mode.

[0019] Specifically, the parking state determination unit 12 compares the target parking state calculated by the parking target state calculation unit 5 with the parking execution state detected by the parking execution state detection unit 11, and determines based on the difference between the target parking state and the parking execution state , whether the vehicle in question failed to park, that is, whether or not parking in the target parking space is necessary again. When the difference between the target parking state and the parking execution state is not less than a preset evaluation threshold value for the parking process, the parking state determination unit 12 determines that parking of the subject vehicle has failed, that is, parking in the target parking space is required again. The evaluation threshold value for a parking process refers to a reference difference value that is acceptable for parking a subject vehicle in a target parking space when there is a difference between the target parking state and the parking execution state. The evaluation threshold value can be calculated based on the ideal state of the vehicle when the subject vehicle is driven to the target parking space. Cases in which "it is determined that parking of the vehicle in question has failed", that is, cases in which "parking in the target parking space is again required", includes the case in which the actual parking location when parking is actually completed deviates from a target parking space and a case in which it is predicted that the actual parking location will deviate from the target parking space if the parking operation is continued without any change.

[0020] The evaluation threshold may be set, for example, based on one or two or more of the following factors (1) - (4):

(1) distance in relation to the target parking space;

(2) distance in relation to the reference path leading to the target parking space;

(3) the distance in relation to the location of the parking turn on the reference path leading to the target parking space; And

(4) the orientation (position) of the subject vehicle with respect to the position angle at the turning location for parking on the reference path leading to the target parking space.

Additionally or alternatively, one evaluation threshold may be set by weighing the corresponding evaluation thresholds that are set based on one or two or more of the above (1) to (4) and summing these evaluation thresholds.

The reference path is the target parking path calculated by the parking program, which is previously stored for automatic operation.

[0021] The display 13 is a user interface that represents information used by the driver for driving or the like, such as information about the current location of the subject vehicle, information about the status of the vehicle, and traffic information. Additionally or alternatively, the display 13 may be a touch panel display, and various instructions and selections may be input by an occupant of the subject vehicle touching and operating the screen of the display 13. When the parking state determining unit 12 determines that the subject vehicle is not parked successful, the display 13 presents guidance information for switching the parking mode of the subject vehicle from a manual mode to an automatic mode. That is, when determining that parking in the target parking space is required again, the controller 15 outputs guidance information to the display 13 for switching the parking mode of the subject vehicle from a manual mode to an automatic mode. The guidance information includes a confirmation display with which it is possible to select whether or not to switch the parking mode of the subject vehicle from a manual mode to an automatic mode. When the occupant of the subject vehicle inputs an instruction to switch the parking mode of the subject vehicle to the automatic mode on the display 13 based on this confirmation display, the parking mode of the subject vehicle is switched from the manual mode to the automatic mode, and the automatic parking control unit 10 performs the automatic function. parking. This allows the parking assistance device 100 to assist parking by performing parking control so that the subject vehicle is guided to the target parking space.

[0022] The parking route following control unit 6 of the automatic parking control unit 10 calculates, based on the target parking state information obtained from the target parking state calculation unit 5 and the current location of the subject vehicle obtained from the current location estimation unit 3, the target angle turning the steering wheel for the subject vehicle to park in the target parking space while maintaining the target parking state. The parking route following control unit 6 calculates the target steering angle according to the current location of the subject vehicle at predetermined time intervals, and outputs the target steering angle to the steering angle control unit 7. The steering angle control unit 7 generates, based on the target steering angle obtained from the parking route control unit 6, a control signal for controlling the steering actuator of the subject vehicle.

[0023] The target speed generation unit 8 of the automatic parking control unit 10 calculates, based on the target parking state information obtained from the target parking state calculation unit 5, a target vehicle speed for parking the subject vehicle in the target parking space while maintaining the target parking state. The speed control unit 9 generates, based on the target speed of the vehicle received from the target speed generation unit 8, a control signal for controlling the accelerator actuator of the vehicle in question.

[0024] In the automatic mode, control of the steering actuator by the steering angle control unit 7 and control of the accelerator actuator by the speed control unit 9 are performed simultaneously, and thus the subject vehicle is controlled autonomously and is guided to park at the designated target parking space.

[0025] An example of a parking assistance method for a subject vehicle performed by the parking assistance device 100 will then be described with reference to FIG. 2-4. The following description will be made based on an example in which the subject vehicle V1 is parked in the parking lot 20 illustrated in FIG. 3. Fig. 3 illustrates the subject vehicle V1 which is actually parked at the actual parking location P1, as well as the virtual subject vehicle V0 when the subject vehicle V1 is assumed to be parked at the target parking location P0 in the target parking space 22 based on the target parking state, and another vehicle Vt that is parked in parking lot 20 before the vehicle in question.

[0026] First, in step S1 shown in FIG. 2, the parking state determining unit 12 of the parking assistance device 100 determines whether or not the parking mode of the subject vehicle V1 is a manual mode. Here, when the parking mode is not a manual mode but an automatic mode, the autonomous parking assistance is already executed by the parking assistance device 100, and therefore the control for outputting guidance information for switching the parking mode is completed. Determining whether the parking mode of the subject vehicle V1 is a manual mode can be performed based on whether the vehicle occupant selects the automatic mode, whether the vehicle occupant selects the manual mode, whether there is a flag signal or a control signal that is output when parking is performed in the automatic mode, whether the occupant of the vehicle operates the input switch in a configuration in which automatic control is performed when the occupant of the vehicle operates the input switch, or the like.

[0027] On the other hand, when it is determined that the parking mode is a manual mode, in step S2, the parking target state calculation unit 5 of the parking assistance device 100 calculates the target parking location P0 based on the location of the target parking frame 21, which is set by the setting unit 1 the target parking frame, and the range of the target parking space 22, which is set within the target parking frame 21. Then, control shifts to step S3, in which the parking execution state detection unit 11 of the parking assistance device 100 detects the actual parking location P1 of the subject vehicle V1.

The order of steps S2 and S3 illustrated in FIG. 2 may be changed, or these steps may be performed simultaneously.

Even when it is determined that the parking mode is a manual mode, the parking assistance device 100 performs the process necessary for parking assistance in the automatic mode in preparation for switching from the manual mode.

[0028] Control moves to step S4, where, as shown in FIG. 3, the parking state determining unit 12 of the parking assistance device 100 determines, based on the difference between the target parking location P0 and the actual parking location P1, that is, the distance D1, whether or not parking has failed. Specifically, when the distance D1 is not less than the preset evaluation threshold value for the parking process, a determination is made that parking of the subject vehicle V1 in the manual mode has failed, and parking in the target parking space 22 is required again. Here, when the distance D1 is less , than the preset evaluation threshold value for the parking process, that is, when the subject vehicle V1 has successfully parked, control ends.

[0029] The parking assistance device 100 calculates the parking difficulty level for the target parking space 22 based on the size of the target parking space 22 shown in FIG. 3 and calculates the evaluation threshold based on the parking difficulty level. That is, the wider the target parking space 22, the lower the parking difficulty level, and the narrower the target parking space 22, the higher the parking difficulty level. Additionally or alternatively, the parking difficulty level for the target parking space 22 can be calculated based on the size of the surrounding space 20a adjacent to the target parking space 22, and a threshold evaluation value can be calculated based on the parking difficulty level. The size of the surrounding space 20a is calculated based on the distance W between the wall 23 of the parking lot 20 and the target parking frame 21, the number and locations of other vehicles Vt parked near the target parking space 22, the sizes of other vehicles Vt, etc.

Additionally or alternatively, the parking difficulty level may be set lower because the driver has greater driving experience or total driving distance. Additionally or alternatively, when the driver's age is older than a predetermined age, the parking difficulty level can be adjusted to high.

[0030] When parking fails, control shifts to step S5, where, as shown in FIG. 4, instruction information for switching the parking mode from the manual mode to the automatic mode is output to the display 13. Then, in step S6, it is determined whether there is an instruction for switching the parking mode from the manual mode to the automatic mode. Specifically, the guidance information displayed on the display screen 13 includes confirmation displays 31, 32 and 33 with which it is possible to select whether or not to switch the parking mode of the subject vehicle V1 from a manual mode to an automatic mode. That is, the graphic image V1' of the subject vehicle V1 is displayed on the left side of the display screen 13, and the confirmation displays 31, 32 and 33 are displayed on the right side. The confirmation display 31 is a display for confirming by the vehicle occupants whether the parking mode should be changed from the manual mode to the automatic mode to perform parking assistance by the parking assistance device 100 . The confirmation display 32 is a button display by which the vehicle occupant responds “Yes” to the prompt on the confirmation display 31, thereby instructing the parking mode to switch from the manual mode to the automatic mode. On the other hand, the confirmation display 33 is a button display by which the vehicle occupant responds “No” to the prompt on the confirmation display 31, thereby selecting the option of not entering the instruction to switch the parking mode to the automatic mode. That is, the vehicle occupant responds “No” to the prompt on the confirmation display 31 and thus selects the manual mode as the parking mode. In addition, when the vehicle occupant does not perform any operation until a certain period of time has elapsed after the parking mode switching guidance information is output to the display 13, due to the expiration of the waiting time, it is determined that the vehicle occupant means the person did not enter instructions to switch the parking mode to automatic mode. Thus, in step S6, when the vehicle occupant touches the confirmation display 32, a determination is made that there is an instruction to switch the parking mode of the subject vehicle V1 from a manual mode to an automatic mode.

[0031] Here, when it is selected whether or not to switch the parking mode of the subject vehicle V1 on the display 13 based on the confirmation display 32, information indicating that either the manual mode or the automatic mode is selected is output to the display 13 based on the information selected the person in the vehicle in question.

[0032] In order to give priority to the driver's intention to manually perform driving, the parking assistance device 100 does not output a guidance display for switching the parking mode to the display 13 until a determination is made that parking has failed. The parking mode switching guidance display is output at a time when parking is completed and the subject vehicle V1 stops.

[0033] When the instruction to switch to the automatic mode is input to the display 13, control shifts to step S7, in which the automatic parking control unit 10 of the parking assistance device 100 performs the automatic parking function to perform parking assistance when retrying parking, so that the vehicle in question the vehicle V1 may be parked at the parking location P0 in the target parking space 22. That is, when determining that it is necessary to move again to the target parking space 22, the parking assistance device 100 outputs guidance information to the display 13, then switches the parking mode of the subject vehicle means V1 from the manual mode to the automatic mode, and performs parking control for the subject vehicle V1 to park at the target parking space 22. When the occupant of the subject vehicle selects the automatic mode as the parking mode, the display 13 displays a sub-image indicating the target parking space 22.

[0034] On the other hand, when the instruction to switch to the automatic mode is not input to the display 13, control shifts to step S8, in which the parking mode is maintained in the manual mode and the target parking space 22 is displayed on the screen of the display 13 as a recommended location. The recommended location is a manual parking guidance display based on the target parking state. Displaying the manual parking indication when the parking mode is a manual mode may include displaying a reference path, a parking turn target location, etc. in addition to the recommended location. The manual parking indication including the recommended location is not displayed on the display 13 until a determination is made in step S4 that parking has failed. That is, the manual parking instruction display is displayed on the display 13 only when the instruction to switch the parking mode to the automatic mode is not input in step S6.

[0035] As described above, in the parking assistance method according to the present embodiment, when parking the subject vehicle V1 is performed in the manual mode, the controller 15 of the parking assistance device 100 determines based on the parking execution state whether or not parking at the target location is necessary again parking space 22. Upon determining that parking at the target parking space 22 is needed again, the controller 15 outputs guidance information to the display 13 for switching the parking mode of the subject vehicle V1 from a manual mode to an automatic mode. This allows the parking assistance device 100 to perform parking assistance so that when manual parking fails after a parking attempt, that is, when parking is again required in the target parking space 22, the vehicle occupant is instructed to know that The parking mode switches to automatic mode.

[0036] When parking the subject vehicle V1 is performed in the manual mode, the parking assistance device 100 calculates the target parking location P0 at the target parking space 22 as the target parking state. In addition, the parking assistance device 100 detects the actual parking location P1 when the subject vehicle V1 completes parking as a parking execution state. Then, based on the deviation amount, that is, the difference between the target parking location P0 and the actual parking location P1, the parking assistance device 100 outputs guidance information to the display 13 for switching the parking mode of the subject vehicle V1 from a manual mode to an automatic mode. Through this operation, when a deviation occurs between the target parking location P0 and the actual parking location P1, that is, when a determination is made that manual parking has failed and parking in the target parking space 22 is required again, the parking assistance device 100 indicates the one in the considered parking space. vehicle to a person so that he knows that the parking mode is switching to automatic mode. This allows the parking assistance device 100 to perform an automatic parking function based on the guidance information for switching the parking mode to the automatic mode, and the parking assistance device 100 can perform the parking assistance so that the subject vehicle V1 can park reliably at the target parking location P0 at target parking space 22.

[0037] Additionally or alternatively, when the distance D1 as the difference between the target parking location P0 and the actual parking location P1 is greater in length than the preset evaluation threshold value for the parking process, the parking assistance device 100 determines that manual parking is not succeeded, and parking at the target parking space 22 is required again. This allows a determination of whether or not parking has failed to be properly made, taking into account an error that occurs in a manual parking operation.

[0038] Additionally or alternatively, when it is determined that the subject vehicle V1 has failed to park and is again required to park in the target parking space 22, the parking assistance device 100 outputs to the display 13, which is a user interface, guidance information for switching the parking mode of the subject vehicle. vehicle V1 from manual mode to automatic mode. This guidance information includes confirmation displays 31, 32, and 33 with which it is possible to select whether or not to switch the parking mode of the subject vehicle V1 from a manual mode to an automatic mode. When an instruction to switch the parking mode of the subject vehicle V1 is input to the display 13 based on these confirmation displays 31, 32 and 33, the parking assistance device 100 switches the parking mode of the subject vehicle V1 from a manual mode to an automatic mode to perform parking assistance on the subject vehicle. means V1. That is, the parking assistance device 100 performs parking control for the subject vehicle V1 to park in the target parking space 22. On the other hand, when the parking mode switching instruction of the subject vehicle V1 is not input to the display 13 or when in the vehicle the person selects manual mode, the parking mode of the vehicle in question V1 is maintained at manual mode.

Through this operation, it is possible to select whether or not the parking assistance will be performed by the parking assistance device 100 when parking is attempted again, in accordance with the intention of the occupant of the vehicle in question.

[0039] Additionally or alternatively, when the parking mode switching instruction of the subject vehicle V1 is not input and the parking mode of the subject vehicle V1 is maintained in the manual mode, the parking assistance device 100 displays the target parking space 22 on the display 13 as a recommended space. Thus, by outputting the manual parking instruction display based on the target parking state to the display 13, even when manual parking is repeated after failing to park, the indication can be performed in such a way as to allow the subject vehicle V1 to park more reliably at the target parking location P0 at the target parking state. parking space 22.

[0040] Additionally or alternatively, when the vehicle occupant selects whether or not to switch the parking mode of the subject vehicle V1 based on the confirmation display 32, information indicating that either the manual mode or the automatic mode is selected based on the information selected by the occupant in the vehicle by a person is displayed on the display 13. When the vehicle occupant selects automatic mode as the parking mode, the display 13 displays an auxiliary image indicating the target parking space 22. This allows the driver and the vehicle occupant to clearly confirm the current parking status of the vehicle in question V1.

[0041] Additionally or alternatively, when parking of the subject vehicle V1 is not performed in a manual mode, that is, when the parking mode is an automatic mode, the parking execution state detection unit 11 does not detect the parking execution state. This allows the parking assistance device 100 to detect the parking status of the subject vehicle V1 only when necessary.

[0042] The parking assistance device 100 may set the rating threshold lower when the parking difficulty level is higher, and may set the rating threshold higher when the parking difficulty level is lower. Due to this setting, the higher the evaluation threshold value, the lower the probability of outputting guidance information for switching from the manual mode to the automatic mode, and the lower the evaluation threshold value, the greater the probability of outputting guidance information for switching from the manual mode to the automatic mode. That is, the parking assistance device 100 can assist in parking so that the manual mode continues when the parking difficulty level is lower. In contrast, the parking assistance device 100 can assist in parking so that switching from a manual mode to an automatic mode is achieved when the parking environment is an environment in which the difficulty level of parking is higher, that is, an environment in which the driver is more likely to will fail when parking. Thus, by setting the evaluation threshold according to the parking difficulty level, the parking assistance device 100 can offer or perform parking assistance in an automatic mode at a time when the driver is unable to park in a manual mode or when a determination is made that the probability of failure high.

[0043] In the present embodiment, the user interface is not limited to the display 13 and may be a speaker that outputs voice, a microphone that receives voice input, and the like. The loudspeaker as a user interface may output voice when one of the manual mode or automatic mode is selected, and may not output voice when the other is selected. Voice information when manual mode is selected and voice information when automatic mode is selected may be output as different voices. Voice information may be output in a form that combines any two or more of the contents, volume, frequency, output time, time when sound is output, and time when sound is not output (silence time).

[0044] The display 13 is not limited to a touch panel display. That is, the driver can press a button provided near the display 13 with a finger or operate the remote control, thereby inputting whether or not to switch the parking mode. Additionally or alternatively, an instruction as to whether or not to switch the parking mode may be input by a sensor provided in the vehicle detecting the driver's utterance or gesture.

[0045] Additionally or alternatively, the display 13 may display a display information output when the manual mode is selected and a display information output when the automatic mode is selected so that one is highlighted over the other. Examples of schemes used to highlight displayed information include known schemes such as a scheme for increasing the size of an icon indicating the information being displayed, a scheme for setting a color to a progressive color (a color brighter than a receding color, a color that appears closer, or a warmer color), a scheme increasing brightness and a scheme for reducing the interval of turning on/off the glow.

[0046] Additionally or alternatively, the display 13 may output display information when one of the manual mode or the automatic mode is selected, and may not output display information when the other is selected. The display 13 can display with different patterns a display information output when the manual mode is selected and a display information output when the automatic mode is selected. The display information may be output in a form in which any two or more of content, shape, color, brightness, time when display information is output, and time when display information is not output (not display time) are combined.

[0047] Additionally or alternatively, after parking of the subject vehicle V1 is completed and the driver exits the vehicle, the guidance display illustrated in FIG. 4 can be displayed on the screen of a terminal worn by the driver. In such a case, the driver can remotely instruct the parking assistance device 100 to perform an automatic parking function to perform the parking assistance in a second attempt by selecting "Yes" on the on-site confirmation display 32.

[0048] Additionally or alternatively, when a determination is made that parking has failed, the parking assistance device 100 may not output the confirmation display 31, 32, or 33, and after providing guidance information for switching the parking mode, the parking assistance device 100 may switch the parking mode to automatic mode to assist when parking in a condition where there is no instruction from the vehicle occupant.

[0049] Second Embodiment

The parking assistance method according to the second embodiment of the present invention will be described with reference to FIG. 5 and 6.

Configurations and control steps related to the same reference positions as those shown in FIG. 1-4 have the same or similar characteristics, so detailed descriptions are not given below.

[0050] As shown in FIG. 5, when it is determined in step S1 that the parking mode is a manual mode, this step is followed by step S12 in which the parking target state calculation unit 5 of the parking assistance device 100 calculates the reference path T0 shown in FIG. 6. The reference trajectory T0 is a parking trajectory calculated under the assumption that the subject vehicle V1 located at the parking start location PS1 will park at the target parking location P0 at the target parking space 22 with one parking turn. The reference path T0 is calculated using a parking program that is previously stored for automatic operation. Then, control shifts to step S13, in which the parking execution state detection unit 11 of the parking assistance device 100 detects the actual parking path T1 based on the actual steering angle (steering wheel rotation amount) of the subject vehicle V1.

The reference trajectory T0 is calculated based on the target driving route and the target driving speed of the subject vehicle V1. The actual parking trajectory T1 is detected based on the driving route and driving speed associated with the actual parking operation of the subject vehicle V1. The reference trajectory T0 and the actual parking trajectory T1 may be the trajectories from the parking start location PS1 to the target parking turn location PK0 and the actual parking turn location PK1, respectively, or otherwise may be the trajectories from the time when the subject vehicle V1 starts the parking operation at the parking start location PS1 until the time when parking is completed.

The order of steps S12 and S13 illustrated in FIG. 5 may be modified, or these steps may be performed simultaneously.

[0051] Then, control shifts to step S14, in which the parking state determining unit 12 of the parking assistance device 100 determines based on the difference between the reference path T0 and the actual parking path T1, that is, the distance D2, as illustrated in FIG. 6, whether or not the parking was unsuccessful, that is, whether parking in the target parking space 22 is needed again. Specifically, the cumulative value is obtained by integrating the distance D2 over the time during which the subject vehicle V1 reaches the target parking turn location PK0 or the actual parking turn position PK1 from the parking start location PS1, and when the cumulative value is not less than the preset evaluation threshold value for the parking process, a determination is made that parking has failed, and parking at the target parking space 22 is required again. Additionally or alternatively, the cumulative value can be obtained by integrating the distance D2 over time from the time point when the subject vehicle V1 starts the parking operation at the parking start location PS1 until the time point when the parking is completed, and when the cumulative value is not less than the preset evaluation threshold value for parking process, a determination may be made that parking has failed. Additionally or alternatively, when the maximum distance value D2 is not less than a preset evaluation threshold value for the parking process, a determination that parking has failed can be made.

[0052] Whether or not parking failed may be determined at a time in the middle of a parking operation of the subject vehicle V1, for example, during a parking turn, or may otherwise be determined at a time when parking of the subject vehicle V1 is completed. The term “in the middle of a parking operation” refers to a situation in which the subject vehicle V1 has not reached the target parking space 22 and parking is not completed.

The timing of outputting the guidance information for switching the parking mode from the manual mode to the automatic mode may be the timing (location) of turning for parking or the timing (location) when parking of the subject vehicle V1 is completed.

[0053] As described above, in the parking assistance method according to the present embodiment, when parking the subject vehicle V1 is performed in the manual mode, the parking assistance device 100 calculates the reference path T0 as the target parking state. In addition, the parking assistance device 100 detects the actual parking path T1 as a parking execution state. Then, based on the amount of deviation, that is, the difference between the reference path T0 and the actual parking path T1, the parking assistance device 100 determines whether or not parking has failed, that is, whether or not parking in the target parking space 22 is necessary again. that parking has failed and parking in the target parking space 22 is required again, the parking assistance device 100 outputs guidance information to the display 13 for switching the parking mode of the subject vehicle V1 from a manual mode to an automatic mode. Through this operation, when a deviation occurs between the reference path T0 and the actual parking path T1, that is, when a determination is made that manual parking has failed, the parking assistance device 100 indicates to the occupant of the subject vehicle to know that the mode parking switches to automatic mode. This allows the parking assistance device 100 to perform an automatic parking function according to the instruction executed by the person in the subject vehicle, and the parking assistance device 100 can assist in parking, so that the subject vehicle V1 can park reliably at the target parking location P0 in target parking space 22.

[0054] Moreover, in the parking assistance method according to the present embodiment, the parking assistance device 100 determines that parking of the subject vehicle V1 has failed even in the middle of a parking operation, that is, even before parking is completed, and the assistance device 100 when parking, can output guidance information for switching the parking mode to the display 13. Thus, the parking assistance device 100 can assist in parking the subject vehicle V1 in accordance with the instruction executed by the occupant of the subject vehicle, even in the middle of a parking operation, and can guide the subject vehicle V1 to the target parking location P0 in the target parking space 22, adjusting the parking path accordingly.

[0055] In addition, the reference trajectory T0 is calculated using a parking program that is previously stored to execute the automatic mode, and therefore the reference trajectory T0 and the actual parking trajectory T1 are compared with each other, thereby further improving the accuracy of determining whether or not it is necessary again parking in target parking space 22.

[0056] Third Embodiment

The parking assistance method according to the third embodiment of the present invention will be described with reference to FIG. 6 and 7.

As shown in FIG. 7, when it is determined in step S1 that the parking mode is a manual mode, this step is followed by step S22 in which the parking target state calculation unit 5 of the parking assistance device 100 calculates the target turning location for parking PK0 illustrated in FIG. 6. The target parking turn location PK0 is the optimal parking turn location for the subject vehicle V1 at the parking start location PS1 for parking at the parking target position P0 at the target parking space 22 with one parking turn. Then, control shifts to step S23, in which the parking execution state detection unit 11 of the parking assistance device 100 detects the actual parking turn location PK1 of the subject vehicle V1 due to the actual parking operation of the subject vehicle V1.

The order of steps S22 and S23 illustrated in FIG. 7 may be modified, or these steps may be performed simultaneously.

[0057] Control proceeds to step S24, in which the parking state determining unit 12 of the parking assistance device 100 determines based on the difference between the target parking turn location PK0 and the actual parking turn location PK1, that is, the distance D3, as shown in FIG. 6, whether or not the parking was unsuccessful. That is, when the distance D3 is not less than the preset evaluation threshold value for the parking process, a determination is made that parking has failed and parking at the target parking space 22 is required again.

Whether or not parking has failed is determined at the parking turn time of the subject vehicle V1, and guidance information for switching the parking mode from the manual mode to the automatic mode is also output at the parking turn time.

[0058] As described above, in the parking assistance method according to the present embodiment, when parking the subject vehicle V1 is performed in the manual mode, the parking assistance device 100 calculates the target parking turn location PK0 as the target parking state. In addition, the parking assistance device 100 detects the actual location of the parking turn PK1 as a parking execution state. Then, based on the deviation amount, that is, the difference between the target parking turn location PK0 and the actual parking turn location PK1, the parking assistance device 100 determines whether or not parking has failed, and whether or not parking at the target parking space 22 is necessary again. When it is determined that parking has failed and parking in the target parking space 22 is required again, the parking assistance device 100 outputs guidance information to the display 13 for switching the parking mode of the subject vehicle V1 from a manual mode to an automatic mode. By this operation, when a deviation occurs between the target parking turn location PK0 and the actual parking turn location PK1, that is, when it is determined that manual parking has failed and parking in the target parking space 22 is needed again, the parking assistance device 100 Parking Indicates the occupant of the vehicle in question so that they are aware that the parking mode is switching to automatic mode. This allows the parking assistance device 100 to perform an automatic parking function in accordance with the instruction executed by the occupant of the subject vehicle, and the parking assistance device 100 can assist in parking the subject vehicle V1.

[0059] Moreover, in the parking assistance method according to the present embodiment, the parking assistance device 100 determines at the parking turn timing that parking of the subject vehicle V1 has failed and parking in the target parking space 22 is required again, and the device 100 the parking assistance device can output guidance information for switching the parking mode to the display 13. Thus, the parking assistance device 100 can assist in parking the subject vehicle V1 in accordance with the instruction executed by the occupant of the subject vehicle, even in the middle of a parking operation, and may direct the subject vehicle V1 to the target parking location P0 at the target parking space 22.

The parking assistance device 100 can determine, based on the distance between the parking target location P0 in the target parking space 22 and the actual parking turn location PK1, whether parking in the target parking space 22 is necessary again or not.

[0060] Fourth Embodiment

The parking assistance method according to the fourth embodiment of the present invention will be described with reference to FIG. 6 and 8.

As shown in FIG. 8, when it is determined in step S1 that the parking mode is a manual mode, this step is followed by step S32 in which the parking target state calculation unit 5 of the parking assistance device 100 calculates the target turning location for parking PK0 illustrated in FIG. 6. Step S32 is followed by step S33, in which the parking target state calculation unit 5 calculates the target position angle A0 at the target parking turning location PK0. The target position angle A0 is the optimal position angle for the subject vehicle V1 to park at the parking target position P0 at the target parking space 22 when driving in reverse. The position angle is an inclination angle of the subject vehicle V1 relative to the direction in which the subject vehicle V1 faces when it is at the parking start location PS1, and is a value that indicates the position of the subject vehicle V1.

[0061] Then, control shifts to step S34, in which the parking execution state detection unit 11 of the parking assistance device 100 detects the actual position angle A1 in the actual parking turning position PK1 based on the actual parking operation of the subject vehicle V1.

The order of steps S32 and S33 illustrated in FIG. 8 may be modified, or these steps may be performed simultaneously.

[0062] Control shifts to step S35, in which the parking state determining unit 12 of the parking assistance device 100 determines based on the difference A0-A1 between the target position angle A0 and the actual position angle A1, as illustrated in FIG. 6, whether or not the parking was unsuccessful. That is, when the distance A0-A1 is not less than the preset evaluation threshold value for the parking process, a determination that parking has failed is made.

Whether or not parking has failed is determined at the parking turn time of the subject vehicle V1, and guidance information for switching the parking mode from the manual mode to the automatic mode is also output at the parking turn time.

[0063] As described above, in the parking assistance method according to the present embodiment, when parking the subject vehicle V1 is performed in the manual mode, the parking assistance device 100 calculates the target position angle A0 as the target parking state. In addition, the parking assistance device 100 detects the actual position angle A1 as a parking execution state. Then, based on the deviation amount, that is, the difference between the target position angle A0 and the actual position angle A1, the parking assistance device 100 determines whether or not parking has failed, that is, whether or not parking in the target parking space 22 is necessary again. determining that parking has failed and parking in the target parking space 22 is required again, the parking assistance device 100 outputs guidance information to the display 13 for switching the parking mode of the subject vehicle V1 from a manual mode to an automatic mode. Through this operation, when a deviation occurs between the target position angle A0 and the actual position angle A1, that is, when a determination is made that manual parking has failed and parking in the target parking space 22 is required again, the parking assistance device 100 indicates the location in the considered parking space. vehicle to a person so that he knows that the parking mode is switching to automatic mode. This allows the parking assistance device 100 to perform an automatic parking function in accordance with the instruction executed by the occupant of the subject vehicle, and the parking assistance device 100 can assist in parking the subject vehicle V1.

[0064] Moreover, in the parking assistance method according to the present embodiment, the parking assistance device 100 determines at the parking turn timing that parking of the subject vehicle V1 has failed and parking in the target parking space 22 is required again, and the device 100 the parking assistance device can output guidance information for switching the parking mode to the display 13. Thus, the parking assistance device 100 can assist in parking the subject vehicle V1 in accordance with the instruction executed by the occupant of the subject vehicle, even in the middle of a parking operation, and may direct the subject vehicle V1 to the target parking location P0 at the target parking space 22.

The parking assistance device 100 can determine whether or not parking in the target parking space 22 is necessary again based on the actual position angle A1 without comparing the target position angle A0 and the actual position angle A1 with each other.

[0065] The target position angle A0 at the target parking turn location PK0 is also the inclination of the tangent line L to the reference path T0. Therefore, the parking execution state detection unit 11 can detect as the parking execution state the difference A0-A1 between the target position angle A0 and the actual position angle A1, that is, the position of the subject vehicle V1 relative to the tangent line. L to the reference path T0. This allows the parking state determining unit 12 to determine, based on the position of the subject vehicle V1 relative to the tangent line L to the reference path T0, whether or not parking in the target parking space 22 is necessary again. Moreover, the parking state determining unit 12 can determine, based on the position of the subject vehicle of the vehicle V1 with respect to the tangent line L to the reference path T0, whether or not parking is needed again at the target parking space 22, not only at the actual parking turn location PK1, but also at any current location in the middle of the parking operation. At this time, the point on the reference path T0 at which the tangent line L is calculated as the position comparison target of the subject vehicle V1 is set to a location that provides the shortest distance from the current position of the subject vehicle V1. In other words, based on the current location or position of the subject vehicle V1 with respect to the target parking space 22, it is determined whether parking in the target parking space 22 is necessary again or not.

[0066] Additionally or alternatively, the parking state determination unit 12 may determine, based on the current location of the subject vehicle V1 relative to the reference path T0, whether or not parking in the target parking space 22 is necessary again. That is, based on the shortest distance (for example, distance D2 In Fig. 6), between any current location of the subject vehicle V1 in the middle of the parking operation and the reference trajectory T0, a determination is made whether or not parking in the target parking space 22 is necessary again. Also in this case, in other words, based on the current location of the subject vehicle means V1 in relation to the target parking space 22, a determination is made whether parking in the target parking space 22 is necessary again or not.

[0067] Additionally or alternatively, the parking state determining unit 12 may detect, as a parking execution state, the number of times the vehicle occupant operates the gear shift of the subject vehicle V1 to switch between forward and reverse, and determine based on the number of times when the subject vehicle V1 is switched between forward and reverse, whether or not parking in the target parking space 22 is necessary again.

[0068] Determining whether or not parking in the target parking space 22 is necessary again can be performed by appropriately combining the determination methods according to the above-mentioned first to fifth embodiments. Specifically, scores can be assigned to the determination results of each determination method, and based on the total score, a determination can be made whether parking in the target parking space 22 is necessary again or not. The determination results can be assigned weighted scores for the corresponding determination schemes.

[0069] Fifth embodiment

The parking assistance method according to the fifth embodiment of the present invention will be described with reference to FIG. 3, 9, and 10.

As shown in FIG. 9, when it is determined in step S1 that the parking mode is a manual mode, this step is followed by step S42 in which the parking target state calculation unit 5 of the parking assistance device 100 calculates a threshold value for the number of turns for parking. The threshold value for the number of parking turns is the maximum value of the number of parking turns that is allowed for the subject vehicle V1 to smoothly park at the target parking location P0 at the target parking location 22.

[0070] The parking target state calculation unit 5 of the parking assistance device 100 calculates the parking difficulty level of the target parking space 22 based on the size of the target parking space 22 shown in FIG. 3, and calculates a threshold value for the number of turns for parking based on the parking difficulty level.

[0071] Additionally or alternatively, the parking target state calculation unit 5 may access the turn count history of the parking lot 40 illustrated in FIG. 10, and calculate a threshold value for the number of turns for parking based on the history of the number of turns for parking 40. The history of the number of turns for parking 40 stored in the parking assistance device 100 is a history that records the relationship between the difficulty level of parking and the number of turns for parking that has been performed in the past until the parking mode of the subject vehicle V1 is switched from manual mode to automatic, or the number of parking turns that are performed until parking is successful while maintaining the parking mode in manual mode.

[0072] As shown in FIG. 10, in the history of the number of parking turns 40, the parking difficulty level calculated at the previous manual parking, the success or failure of manual parking, and the number of parking turns made before successful parking or failure are recorded so as to be associated with each other. Manual parking success refers to the situation in which the driver can park the vehicle in the target parking space without switching to automatic mode while the parking mode is in manual mode. Failure refers to the situation in which the driver first attempts to park the vehicle in the target parking space when the parking mode is in manual mode, but switches the parking mode to automatic mode in the middle of the parking operation. When the threshold number of parking turns is calculated based on the history of the number of parking turns 40, for example, the maximum value of the number of parking turns made before successful parking is calculated as the threshold value for the number of parking turns according to the difficulty level of parking. In the example shown in FIG. 10, so when the parking difficulty level is “normal”, the threshold value for the number of turns for parking is three. On the other hand, when there is no history of successful parking, for example, the minimum value of the number of turns for parking before failure is calculated as the threshold value for the number of turns for parking. In the example shown in FIG. 10, so when the parking difficulty level is “difficult”, the threshold value for the number of turns for parking is also three.

The parking turn count history 40 may be a set of pieces of data recorded for the subject vehicle V1, or may also be data associated with each user information item when there are multiple users of the subject vehicle V1.

[0073] Subsequently, after calculating the threshold value for the number of parking turns in step S42, control shifts to step S43, in which the parking target state calculation unit 5 counts and detects the actual number of parking turns during the parking turns of the subject vehicle V1.

The order of steps S42 and S43 illustrated in FIG. 9 may be modified, or these steps may be performed simultaneously.

[0074] Control proceeds to step S44, in which the parking state determining unit 12 of the parking assistance device 100 compares the actual number of parking turns with a threshold value for the number of parking turns during the parking turns of the subject vehicle V1 at any time. Then, in step S45, the parking state determination unit 12 determines whether the subject vehicle V1 has been successfully parked with an actual number of parking turns that does not exceed a threshold value for the number of parking turns. When the subject vehicle V1 is successfully parked with an actual number of parking turns that does not exceed a threshold value for the number of parking turns, control ends. On the other hand, when the subject vehicle V1 has not been successfully parked with an actual number of parking turns that does not exceed the threshold value for the number of parking turns, that is, when the actual number of parking turns exceeds the threshold value for the number of parking turns, block 12 The parking state determination determines that parking has failed, and control proceeds to step S5.

[0075] As described above, in the parking assistance method according to the present embodiment, when parking the subject vehicle V1 is performed in the manual mode, the parking assistance device 100 calculates a threshold value for the number of turns for parking as a target parking state. In addition, the parking assistance device 100 detects the actual number of parking turns due to the actual parking operation of the subject vehicle V1 as the parking execution state. Then, when the actual number of parking turns exceeds the threshold value for the number of parking turns until the subject vehicle V1 completes parking, the parking assistance device 100 determines that parking of the subject vehicle V1 has failed and parking in the target parking space 22 is necessary. again. Through this operation, the parking assistance device 100 determines, during a parking turn, that parking of the subject vehicle V1 has failed, and can output guidance information for switching the parking mode to the display 13. Thus, the parking assistance device 100 can assist in parking the subject vehicle V1. of the vehicle V1 in accordance with the instruction executed by the occupant of the subject vehicle, even in the middle of a parking operation, and can guide the subject vehicle V1 to the parking target location P0 at the target parking space 22.

[0076] In addition, the parking assistance device 100 calculates the parking difficulty level for the target parking space 22 based on the size of the target parking space 22 in which the subject vehicle V1 is to be parked, or the size of the surrounding space 20a adjacent to the target parking space 22. and calculates a threshold value for the number of turns for parking based on the parking difficulty level. This allows the parking assistance device 100 to calculate a more appropriate threshold value for the number of turns for parking according to the actual parking situation.

[0077] In addition, the parking assistance device 100 calculates, based on the history of the number of turns for parking 40, a threshold value for the number of turns for parking according to the parking difficulty level. Parking turn number history 40 is a history that records the relationship between the difficulty level of parking and the number of parking turns made in past times until the parking mode of the subject vehicle V1 switches from manual mode to automatic mode, or the number of parking turns , which are executed until parking is successful, while maintaining the parking mode in manual mode. This allows the parking assistance device 100 to calculate a more appropriate threshold value for the number of turns for parking not only based on the actual parking situation, but also based on the driving skill of the driver.

Description of reference items

[0078]

100 Parking aid

11 Parking progress state detection unit

12 Parking status detection block

13 Display (user interface)

15 controller

16 Sensors

20a Surrounding space

22 Target parking space

31, 32, 33 Confirmation display

40 History of number of parking turns

V1 Vehicle in question

P1 Actual parking location

T0 Reference path

T1 Actual parking trajectory

PK0 Target parking turn location

PK1 Actual parking turn location

A0 Target position angle

A1 Actual position angle

L Tangent line of the reference path.

Claims (83)

1. A parking assistance method for performing parking assistance for a subject vehicle using a parking assistance device comprising a controller configured to output assistance information to an occupant of the subject vehicle based on motion information of the subject vehicle detected by a sensor, at In this case, the mentioned method is subject to execution by the controller and contains the steps of: determining, based on the traffic information, whether parking of the subject vehicle is performed in a manual mode or an automatic mode, in which parking control is performed to park the subject vehicle in a target parking space; when parking of the subject vehicle is performed in a manual mode, detecting a parking execution state of the subject vehicle; determining, based on the parking execution state, whether parking in the target parking space is necessary again or not; when it is determined that parking in the target parking space is again necessary, outputting guidance information to the user interface for switching the parking mode of the subject vehicle from a manual mode to an automatic mode; And, When the parking control is performed in the automatic mode, control for outputting guidance information for switching the parking mode is not executed. 2. The method of parking assistance according to claim 1, containing the steps of: detecting the current location of the subject vehicle relative to the target parking space as a parking execution state; And determining, based on the current location of the subject vehicle relative to the target parking space, whether parking in the target parking space is necessary again or not. 3. The method of parking assistance according to claim 1 or 2, containing the steps of: detecting the position of the subject vehicle relative to the target parking space as a parking execution state; And determining, based on the position of the subject vehicle relative to the target parking space, whether parking in the target parking space is necessary again or not. 4. Method of parking assistance according to any one of paragraphs. 1-3, containing the steps of: calculating a reference trajectory for parking the vehicle in question at a target parking space; detecting the current location of the subject vehicle relative to the reference path as a parking execution state; And determining, based on the current location of the subject vehicle relative to the reference path, whether parking in the target parking space is necessary again or not. 5. Method of parking assistance according to any one of paragraphs. 1-4, containing the steps of: calculating a reference trajectory for parking the vehicle in question at a target parking space; detecting the position of the vehicle in question relative to the tangent line of the reference path as a parking execution state; And determining, based on the position of the subject vehicle relative to the tangent line of the reference path, whether parking in the target parking space is necessary again or not. 6. The method of parking assistance according to claim 4 or 5, containing a step in which calculate the reference trajectory according to the parking program, which is previously saved for executing the automatic mode. 7. Method of parking assistance according to any one of paragraphs. 1-6, containing the steps of: detecting as a parking execution state the number of times the vehicle occupant switches the subject vehicle to switch between forward and reverse; And determine, based on the number of times the subject vehicle switches between forward and reverse, whether parking in the target parking space is necessary again or not. 8. Method of parking assistance according to any one of paragraphs. 1-7, containing the steps of: calculating, as a target parking state, a target parking location that is specified in the target parking space; when parking of the subject vehicle is performed in a manual mode, detecting the actual parking location after parking of the subject vehicle is completed as a parking execution state; And determining, based on the difference between the target parking location and the actual parking location, whether parking at the target parking location is necessary again or not. 9. Method of parking assistance according to any one of paragraphs. 1-7, containing the steps of: when parking of the subject vehicle is performed in a manual mode, calculating a target parking turn location for the subject vehicle to park at the target parking space as a target parking state, and detecting an actual parking turn location due to the actual parking operation of the subject vehicle as a parking execution state ; And determining, at the time of the parking turn, based on the difference of the actual location of the parking turn with respect to the target location of the parking turn, whether parking at the target parking space is necessary again or not. 10. The method of parking assistance according to claim 8 or 9, containing the step in which, when the difference between the parking execution state and the target parking state is not less than the evaluation threshold that is preset for the parking process, it is determined that parking at the target parking space is required again. 11. The method of parking assistance according to claim 10, containing the steps of: calculating a parking difficulty level for a target parking space based on the size of the target parking space or the size of a surrounding space adjacent to the target parking space; And setting the rating threshold lower when the parking difficulty level is higher, while setting the rating threshold higher when the parking difficulty level is lower. 12. Method of parking assistance according to any one of paragraphs. 1-11, containing the steps in which: when it has been determined that parking in the target parking space is required again, output indication information; then switching the parking mode of the vehicle in question from a manual mode to an automatic mode; And performing parking control for the subject vehicle to park at the target parking space. 13. Method of parking assistance according to any one of paragraphs. 1-12, containing the steps of: when it is determined that parking in the target parking space is again required, guidance information for switching the parking mode of the subject vehicle from a manual mode to an automatic mode is output to the user interface, wherein the guidance information includes displaying a confirmation with which it is possible to select, switch whether or not the parking mode of the vehicle in question is from manual mode to automatic mode; And, when the occupant of the subject vehicle selects whether or not to switch the parking mode of the subject vehicle based on the confirmation display, information indicating that either the manual mode or the automatic mode is selected is output to the user interface based on the information selected by the occupant of the subject vehicle vehicle by a person. 14. Method of parking assistance according to any one of paragraphs. 1-13, in which the guidance information includes a confirmation display with which it is possible to select whether or not to switch the parking mode of the vehicle in question from a manual mode to an automatic mode; wherein said method further comprises the steps of: when the occupant of the subject vehicle selects the automatic mode, performing parking control for the subject vehicle to navigate to the target parking space; And, when the occupant of the vehicle in question selects the manual mode, the parking mode of the vehicle in question is maintained in the manual mode. 15. Method of parking assistance according to any one of paragraphs. 1-13, in which the guidance information includes a confirmation display with which it is possible to select whether or not to switch the parking mode of the vehicle in question from a manual mode to an automatic mode; wherein said method further comprises the steps of: when the occupant of the subject vehicle selects the automatic mode, a sub-image indicating the target parking space is displayed; And, when the occupant of the vehicle in question selects the manual mode, the parking mode of the vehicle in question is maintained in the manual mode. 16. Method of parking assistance according to any one of paragraphs. 1-13, in which the guidance information includes a confirmation display with which it is possible to select whether or not to switch the parking mode of the vehicle in question from a manual mode to an automatic mode; wherein said method further comprises the steps of: when an instruction to switch the parking mode of the subject vehicle is input into the user interface based on the confirmation display, switching the parking mode of the subject vehicle from a manual mode to an automatic mode, and performing parking control for the subject vehicle to navigate to a target parking space; And, when an instruction to switch the parking mode of the subject vehicle is not input to the user interface based on the confirmation display, maintaining the parking mode of the subject vehicle in a manual mode. 17. Method of parking assistance according to any one of paragraphs. 13-16, containing a step in which outputting a manual parking instruction display to a user interface when an instruction to switch the parking mode of the subject vehicle is not input to the user interface, and the parking mode of the subject vehicle is maintained in the manual mode. 18. The method of parking assistance according to claim 1, containing the steps of: calculating a parking difficulty level for a target parking space based on the size of the target parking space or the size of a surrounding space adjacent to the target parking space; refers to the parking turn count history, which records the relationship between the difficulty level of parking and the number of parking turns that were executed in the past before the subject vehicle's parking mode was switched from manual mode to automatic mode or the number of parking turns that were performed before successful execution parking while maintaining the parking mode in manual mode; calculating, based on the history of the number of parking turns, a threshold value for the number of parking turns in accordance with the difficulty level of parking; detecting the actual number of parking turns due to the actual parking operation of the subject vehicle as a parking execution state; And, when the actual number of turns for parking of the subject vehicle exceeds a threshold value for the number of turns for parking until the subject vehicle completes parking, it is determined that parking in the target parking space is required again. 19. Method of parking assistance according to any one of paragraphs. 1-16, containing a step in which determining, based on the traffic information, whether or not the subject vehicle is parked manually; wherein, when parking of the subject vehicle is not performed in the manual mode, the parking execution state is not detected. 20. A parking assistance method for performing parking assistance for a subject vehicle using a parking assistance device comprising a controller configured to output assistance information to an occupant of the subject vehicle based on motion information of the subject vehicle detected by the sensor, at In this case, the mentioned method is subject to execution by the controller and contains the steps of: determining, based on the traffic information, whether parking of the subject vehicle is performed in a manual mode or an automatic mode, in which parking control is performed to park the subject vehicle in a target parking space; When parking the vehicle in question is performed in manual mode, the turn count history is accessed, which records the number of parking turns that were made in the past times before the parking mode of the vehicle in question was switched from manual mode to automatic mode, or the number of parking turns that were performed. until parking is successfully completed while maintaining the parking mode in manual mode; calculating a threshold value for the number of turns for parking based on the turn count history; detecting the actual number of turns for the parking periods through the actual parking operation of the subject vehicle; when the actual number of turns for parking exceeds the threshold value for the number of turns for parking, determine that parking in the target parking space is again required, when it is determined that parking in the target parking space is again required, output guidance information for switching the parking mode of the one in question to the user interface vehicle from manual mode to automatic mode. 21. A parking assistance device, comprising a controller configured to output assistance information to an occupant of a subject vehicle based on motion information of the subject vehicle detected by a sensor, the controller being configured to: determining, based on the traffic information, whether parking of the subject vehicle is performed in a manual mode or an automatic mode, in which parking control is performed to park the subject vehicle in a target parking space; when parking of the subject vehicle is performed in a manual mode, detecting a parking execution state of the subject vehicle; determining, based on the parking execution state, whether parking at the target parking space is necessary again or not; when it is determined that parking in the target parking space is again necessary, outputting to the user interface information an instruction for switching the parking mode of the subject vehicle from a manual mode to an automatic mode; And, When the parking control is in automatic mode, the control fails to output guidance information for switching the parking mode.

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