WO2014162753A1 - Parking assistance apparatus and exit assistance apparatus - Google Patents

Abstract

A parking space calculation unit for calculating a parking space for a vehicle, a vehicle position calculation unit for calculating the position of the vehicle with respect to the parking space are provided in a parking assistance ECU (1), and further a remote parking determination unit for determining, on the basis of the positional relationship between the parking space and the vehicle, whether parking in the parking space by a remote operation from outside the vehicle is permitted, and a remote parking control unit for, when the parking by the remote operation is permitted, accepting parking command from a remote operation device (31), and parking the vehicle in the parking space are provided in a remote operation ECU (3).

Description

Parking support device and exit support device

The present invention relates to a parking support apparatus capable of performing parking in a parking space by remote operation from outside the vehicle and an exit support apparatus capable of performing exit from the parking space by remote operation from outside the vehicle.

Conventionally, this type of parking support apparatus and exit support apparatus are disclosed in, for example, Patent Document 1 below. The technique of this patent document 1 is to automatically move a vehicle outside the parking space to the parking space by a remote operation command from the operation terminal, and to move the vehicle in the parking space by a remote operation command from the operation terminal. It is automatically moved out of the parking space. In this technique, when an operator is present in the movement path at the time of parking or leaving, parking or leaving by a remote operation command is prohibited. Further, in this technique, when the operator cannot visually recognize the movement route at the time of parking or leaving, parking or leaving by a remote operation command is prohibited.

JP 2007-295033 A

By the way, the conventional parking support device and the exit support device cannot grasp the movement and thought of the operator and the operation ability of the operator. And since the operator needs to continue monitoring the long movement path | route until the movement of a vehicle is complete | finished, there exists a possibility that the attention with respect to the movement path | route may become distracted. Some operators are excellent in remote operation capability, while others are inferior in operation capability. Therefore, even when the parking assistance device or the exit assistance device is in a position where the operator can visually recognize the movement route, there may be a situation where safety cannot always be ensured.

Therefore, the present invention improves the inconvenience of the conventional example, and a parking assist device capable of enhancing the safety of vehicle movement by remote operation regardless of the durability of the operator's attention and the skill of the operation. It is another object of the present invention to provide an exit support apparatus.

In order to achieve the above object, the present invention provides a parking space calculation unit that calculates the parking space of the own vehicle, a vehicle position calculation unit that calculates the vehicle position relative to the parking space, and the parking space and the vehicle. Based on the positional relationship, a remote parking determination unit that determines whether to permit parking in the parking space by remote operation from outside the vehicle, and when parking by remote operation is permitted, accepts a parking command from a remote operation device And a remote parking control section for parking the own vehicle in the parking space.

Here, it is desirable that the remote parking determination unit permits parking by remote operation when the vehicle position is within a predetermined distance from the vehicle position after parking in the parking space.

In addition, it is preferable that the remote parking determination unit permits parking by remote operation when a moving distance from the own vehicle position to the own vehicle position after parking in the parking space is within the predetermined distance.

In addition, it is preferable that the remote parking determination unit permits parking by remote operation when the vehicle can be parked in the parking space without changing the turning direction of the steered wheels.

In addition, the remote parking determination unit may be operated by remote control when a part of the vehicle is in the parking space and the vehicle can be parked in the parking space by moving forward or backward in the parking space. It is desirable to allow parking.

Furthermore, in order to achieve the above-mentioned object, the present invention provides an exit from the parking space by remote control from the outside of the vehicle when it is possible to exit from the parking space of the own vehicle to a predetermined position without changing the steering direction of the steered wheels. And a remote exit control unit that accepts an exit command from a remote operation device and exits the vehicle from the parking space when remote exit is permitted. It is characterized by that.

Furthermore, in order to achieve the above object, the present invention accepts a parking command from a remote control device based on the positional relationship between the own vehicle and the parking space of the own vehicle, and parks the own vehicle in the parking space. It is characterized by.

Here, it is desirable to receive a parking command from the remote control device when the own vehicle position is within a predetermined distance with respect to the own vehicle position after parking in the parking space.

In addition, it is desirable to accept a parking command from the remote control device when the moving distance from the own vehicle position to the own vehicle position after parking in the parking space is within the predetermined distance.

In addition, it is desirable to accept a parking command from the remote control device when the parking space can be parked without changing the steering direction of the steered wheels.

Furthermore, in order to achieve the above object, the present invention accepts an exit command from a remote control device when it is possible to exit from the parking space of the own vehicle to a predetermined position without changing the turning direction of the steered wheels. The vehicle is made to leave the parking space.

The parking support device according to the present invention permits the parking (remote parking) by remote operation from the outside of the vehicle based on the positional relationship between the own vehicle and the parking space. For example, the permission is given when the vehicle position is within a predetermined distance with respect to the vehicle position after parking in the parking space (specifically, movement from the vehicle position to the vehicle position after parking in the parking space) This is done when the distance can be parked in the parking space without changing the steered direction of the steered wheels. In addition, the exit support device according to the present invention permits execution of exit (remote exit) by remote operation from the outside of the vehicle when it is possible to exit from the parking space to a predetermined position without changing the steering direction of the steered wheels. Therefore, the parking support device and the exit support device easily maintain attention until the operator finishes the remote parking or the remote exit, and each of the parking support device and the exit support device can be remotely parked or parked in the same manner regardless of the skill of the operator. Remote exit operation can be performed. Therefore, the parking support device and the exit support device can safely perform remote parking or remote exit operations from outside the vehicle.

FIG. 1 is a block diagram showing a configuration of a parking support apparatus and an exit support apparatus according to the present invention. FIG. 2 is a diagram illustrating an example of a parking lot during remote parking. FIG. 3 is a diagram illustrating an example of a parking lot at the time of remote exit. FIG. 4 is a flowchart for explaining the calculation processing operation during remote parking of the parking assistance apparatus according to the present invention. FIG. 5 is a flowchart for explaining the arithmetic processing operation at the time of remote exit of the exit support apparatus according to the present invention.

Hereinafter, embodiments of a parking support apparatus and an exit support apparatus according to the present invention will be described in detail with reference to the drawings. The present invention is not limited to the embodiments.

[Example]
Embodiments of a parking support apparatus and an exit support apparatus according to the present invention will be described with reference to FIGS.

The parking assistance device includes an electronic control device (hereinafter referred to as “parking assistance ECU”) that performs arithmetic processing of assistance control related to parking. In addition, the exit support device includes an electronic control device (hereinafter referred to as “exit support ECU”) that performs arithmetic processing of support control related to exit. Here, the parking assistance device and the leaving assistance device have the same configuration except for the parking assistance ECU and the leaving assistance ECU. For this reason, in this example, as shown in FIG. 1, it demonstrates as what makes the parking assistance ECU1 perform the arithmetic processing of exit assistance ECU. Therefore, the parking assistance device and the leaving assistance device are provided with a parking assistance ECU 1 that performs a calculation process of assistance control related to parking and leaving as shown in FIG. In addition, the parking support device and the exit support device include an electronic control device (hereinafter referred to as “periphery monitoring ECU”) 2 that performs calculation processing for peripheral monitoring control, and an electronic control device that performs calculation processing for remote operation control. (Hereinafter referred to as “remote control ECU”) 3. Parking assistance control refers to parking assistance control when parking the vehicle in the parking space and exit assistance control when leaving the vehicle from the parking space. Car guidance assistance. In the parking assistance device and the exit assistance device, there is assistance that only shows the guidance route to the driver, and there is assistance that moves the vehicle along the guidance route by automatic traveling. The peripheral monitoring control is control for monitoring an object or the like existing around the own vehicle when performing the parking support control or the exit support control. Remote operation control refers to when a vehicle is parked in a parking space by remote operation (hereinafter referred to as “remote parking”) or the vehicle is moved out of the parking space by remote operation (hereinafter referred to as “remote exit”). This is the control that is performed.

Here, the parking space is a variety of places where the vehicle can be parked. For example, the parking space may be a place prepared in advance, or the size of the vehicle and the position of an obstacle. It may be a place determined by the relationship of As the former parking space, for example, a place delimited by a frame line or dotted line as positioning in the longitudinal direction and lateral direction of the vehicle, two straight lines or dotted lines or rope as positioning in the vehicle lateral direction, etc. There are places that are separated, and places that are separated by a car stop along with the two straight lines. The latter parking space is, for example, a rectangular area that is determined when the size of the vehicle is compared with the space formed between the features that become obstacles, and the vehicle can be parked in that space. (Rectangular parking frame).

The calculation processing of the parking assist ECU 1, the periphery monitoring ECU 2, and the remote control ECU 3 can be started when the output signal of the control instruction unit 10 is received.

The control instruction unit 10 is provided in the passenger compartment. The control instruction unit 10 includes an instruction unit (hereinafter referred to as a “parking support instruction unit”) that is operated when the driver starts or stops the parking support control, and the driver starts or stops the exit support control. An instruction unit (hereinafter referred to as “exit support instruction unit”) that is operated at the time. The parking support instruction unit and the exit support instruction unit are a switch, a button on the touch panel of the display device 15, and the like. In this example, the parking support control can be started together with the periphery monitoring control by the start instruction operation on the parking support instruction unit, and the exit support control can be started together with the periphery monitoring control by the start instruction operation on the exit support instruction unit. In this example, the parking support control or the exit support control can be stopped together with the peripheral monitoring control by a stop instruction operation for each of the instruction units.

Further, the control instruction unit 10 is an instruction unit of the same form that is operated when the driver starts or stops the parking in the automatic driving in the parking support control or the automatic driving in the leaving support control from the passenger compartment. (Hereinafter referred to as “automatic travel instruction unit”).

Furthermore, the control instruction unit 10 includes a similar type instruction unit (hereinafter referred to as a “remote parking start instruction unit”) operated by the driver when starting remote parking control, and remote parking control. An instruction unit (hereinafter referred to as a “remote parking end instruction unit”) of the same form that is operated when the operation is to be ended is provided. When the remote parking start instruction section is operated, the remote parking control system is activated, and the driver enters a standby state so that the driver can remotely park the vehicle. When the remote parking end instruction unit is operated, the remote parking control system stops and the remote parking control ends. Here, in addition to the control instruction unit 10, the remote parking start instruction unit may be provided in the remote operation device 31 described later. Further, the remote parking end instruction unit is provided in the remote operation device 31 together with the control instruction unit 10.

In the parking support device and the exit support device, the parking support ECU 1 may have the calculation processing function of the periphery monitoring ECU 2 and the remote operation ECU 3. In this case, it is not always necessary to provide the periphery monitoring ECU 2 and the remote operation ECU 3. Absent.

The parking support device and the exit support device detect an object around the host vehicle and determine whether the object is an obstacle of the host vehicle. For this reason, the periphery monitoring ECU 2 is provided with an object detection unit that detects an object around the own vehicle and an obstacle determination unit that determines whether the detected object is an obstacle of the own vehicle. ing. The object may be a dynamic object or a static object. A dynamic object refers to a moving object such as a running car, bicycle, or pedestrian. A static object is an object that does not move, such as a parked car, a real estate such as a utility pole or wall.

The parking assistance device and the exit assistance device are provided with a surrounding information detection device 21 that detects surrounding information of the vehicle. The surrounding information detection device 21 is used to detect an object around the own vehicle. At least one peripheral information detection device 21 is provided at the front and the rear of the vehicle. It is desirable that the peripheral information detection device 21 provided in the front part of the vehicle can detect not only the information in front of the own vehicle but also information on the side of the own vehicle as much as possible. On the other hand, it is desirable that the peripheral information detection device 21 provided at the rear part of the vehicle can detect not only the information behind the host vehicle but also the side information of the host vehicle as much as possible. Here, if the surrounding information detection device 21 is provided at the front part or the rear part and cannot detect the information on the side of the own vehicle, or if it is desired to expand the detectable area of the information on the side of the own vehicle, It is desirable to provide also in the left side part and right side part.

For example, the peripheral information detection device 21 may be one that performs detection using laser light, ultrasonic waves, radio waves, or the like. Further, an imaging device can be used as the peripheral information detection device 21. Specifically, the parking assistance device and the exit assistance device may be provided with at least one of an imaging device, a laser device, and a sonar device as the peripheral information detection device 21. However, in this example, as will be described later, at least the imaging device is provided since the vehicle position with respect to the parking space and the posture of the vehicle with respect to the parking space are grasped using the imaging result of the imaging device.

The imaging device is connected to the periphery monitoring ECU 2 by wire or wirelessly, and transmits information related to the captured moving image or still image to the periphery monitoring ECU 2. As this imaging device, for example, a device that captures image information within an imaging range such as a CCD (charge-coupled device) camera may be used, and detection of the detection target within the imaging range where light from the detection target reaches. It may be a direct type sensor capable of This imaging device may be one in which the imaging range is fixed, or may be capable of changing the imaging range. In the case of an imaging device having a variable imaging range, the variable operation is controlled by the imaging control unit of the periphery monitoring ECU 2. From a surrounding image or video captured by the imaging device or a detection signal related to the image or the like, it is possible to detect at least one of, for example, color information or luminance information on a road or a feature around the vehicle. . For this reason, the object detection unit of the periphery monitoring ECU 2 can grasp the presence of an object around the own vehicle based on the image or video or these detection signals.

The laser device irradiates while scanning laser light toward the periphery of the vehicle. This laser device is connected to the periphery monitoring ECU 2 by wire or wirelessly, and information on the laser light to be irradiated (intensity, scanning position, etc.), information on reflected light (intensity, time until light reception, etc.), and contrast due to reflection intensity. The ratio is transmitted to the periphery monitoring ECU 2. Here, the distance (reflection distance) from the irradiation unit and the light receiving unit of the laser device to the reflection position of the laser beam is the mounting position of the laser device in the vehicle (mainly the height position from the road surface of the irradiation unit and the light receiving unit). Calculation is possible from the scanning position of the laser beam (the irradiation angle of the laser beam in the vertical direction of the vehicle and the irradiation angle of the laser beam in the horizontal direction) and the time until the reflected light is received. The calculation of the reflection distance may be performed by the periphery monitoring ECU 2 or a laser device. When the laser device performs the calculation of the reflection distance, the laser device also transmits information on the reflection distance to the periphery monitoring ECU 2. The operation of this laser device is controlled by the laser light control unit of the periphery monitoring ECU 2. The object detection unit of the periphery monitoring ECU 2 can grasp the presence of an object around the host vehicle based on the information of the reflection distance.

The sonar device irradiates while scanning ultrasonic waves toward the periphery of the vehicle. This sonar device is connected to the periphery monitoring ECU 2 by wire or wirelessly, and information on the ultrasonic waves to be irradiated (intensity, scanning position, etc.) and reflected wave information (intensity, time until light reception, etc.) are sent to the periphery monitoring ECU 2. Send. The distance (reflection distance) from the irradiation unit and the light receiving unit of the sonar device to the reflection position of the ultrasonic wave can be calculated in the same manner as the laser device. This calculation may be performed by the periphery monitoring ECU 2 or a sonar device. When the sonar device performs the calculation of the reflection distance, the sonar device also transmits information on the reflection distance to the surrounding monitoring ECU 2. The operation of this sonar device is controlled by the ultrasonic control unit of the periphery monitoring ECU 2. The object detection unit of the periphery monitoring ECU 2 can grasp the presence of an object around the host vehicle based on the information of the reflection distance.

The obstacle determination unit of the periphery monitoring ECU 2 determines whether or not the object detected by the object detection unit is an obstacle of the own vehicle. For example, the obstacle determination unit determines an object present within a predetermined distance around the own vehicle as an obstacle. In addition, when an object is detected on the guidance route of the own vehicle, the obstacle determination unit determines that the object is an obstacle. The obstacle determination unit also determines an object present on the parking space as an obstacle. The obstacle determination unit also determines that an object existing in an area that is a candidate for the guidance route of the host vehicle is an obstacle. The obstacle determination unit also determines an object present in the traveling direction of the host vehicle as an obstacle. At that time, if the object is a dynamic object, it is determined as a dynamic obstacle, and if the object is a static object, it is determined as a static obstacle. When identifying whether the obstacle is a dynamic object or a static object, the obstacle determination unit uses the travel information (vehicle speed, steering angle, etc.) of the own vehicle together with information on the object detected by the object detection unit. . That is, the obstacle determination unit identifies whether the object is a dynamic object or a static object based on, for example, the vehicle speed of the host vehicle and the relative speed of the object with respect to the host vehicle. When it is determined that there is an obstacle around the vehicle, the parking assistance device and the exit assistance device can notify the driver of the presence of the obstacle or warn the driver. . For this reason, the surroundings monitoring ECU 2 is provided with a notification unit that performs notification and warning to the driver.

This parking assistance device performs parking assistance control as described above. Further, the exit support apparatus performs exit support control as described above. For this reason, the parking support ECU 1 is provided with a parking support control unit that performs parking support control and an exit support control unit that performs exit support control. The parking assist ECU 1 includes a parking space calculation unit that generates a parking space for the own vehicle, a vehicle position calculation unit that calculates the vehicle position relative to the parking space, and an exit destination from the parking space of the own vehicle. And an exit destination calculation unit, and a route generation unit that generates a guidance route of the host vehicle when the vehicle is parked or exited.

The parking space calculation unit determines the parking space of the vehicle based on the obstacle detected by the obstacle determination unit. For example, the parking space calculation unit selects a parking space in which no obstacle exists from a plurality of parking spaces based on the obstacle detected by the obstacle determination unit, and the selected parking space is If there is only one parking space, the parking space is determined as the parking space for the own vehicle. If there are a plurality of selected parking spaces, the parking space for the own vehicle is determined from the parking spaces. Further, the parking space calculation unit may determine the parking space of the own vehicle based on an instruction (instruction of a parking space desired by the driver) given by the driver from the touch panel of the display device 15 or the like. .

The own vehicle position calculation unit calculates the own vehicle position with respect to the parking space, for example, using the imaging result of the imaging device. For this reason, it can be said that the vehicle position calculation unit obtains the positional relationship between the parking space and the vehicle.

The exit destination calculation unit can determine the exit destination of the host vehicle based on an instruction given by the driver from the touch panel or the like of the display device 15 (an exit destination instruction such as a right turn or a left turn desired by the driver). it can. In addition, when the destination of the host vehicle is set by a car navigation system (not shown), the exit destination calculation unit can determine the exit destination of the host vehicle from the parking space according to the guidance route.

The route generation unit generates a guide route from the current position of the host vehicle to the parking space or a guide route from the parking space of the host vehicle to the exit destination. It is assumed that the guidance route of the vehicle can avoid the obstacle detected by the obstacle determination unit. Obstacles to avoid at that time are static obstacles. This is because the dynamic obstacle is likely to leave the place. However, if the dynamic obstacle continues to be detected even after a predetermined time has elapsed, the vehicle's guide route is generated so as to avoid the dynamic obstacle. Further, the route generation unit may generate a guidance route for the host vehicle based on an instruction (instruction for a guidance route desired by the driver) given by the driver from the touch panel of the display device 15 or the like.

FIG. 2 shows a state in which the other vehicle C0 has already been parked in the parking spaces S1, S3, and S4 and no obstacle exists in the parking space S2. When the parking assistance system is activated by the start instruction of the parking assistance instruction unit, obstacles around the own vehicle C are detected by the object detection unit and the obstacle determination unit, and the own vehicle C is detected by the parking space calculation unit. The parking space S2 is calculated. Then, the route generation unit calculates a guide route G1 from the position P1 to the position P2 and a guide route G2 from the position P2 to the inside of the parking space S2. When the parking assistance system is not activated, the driver advances the own vehicle C at the position P1 to the position P2 by own driving, and moves the own vehicle C toward the parking space S2 by own driving. . On the other hand, FIG. 3 shows a case where the host vehicle C is withdrawn from the parking space S2. When the exit support system is activated by the start instruction of the exit support instruction unit, an obstacle around the host vehicle C is detected by the object detection unit and the obstacle determination unit, and the route is to avoid the obstacle. The generation unit generates a guidance route to the exit destination. The state of FIGS. 2 and 3 is an example shown for convenience of explanation.

Here, the parking support control unit displays the guidance routes G1 and G2 from the current position P1 of the host vehicle C to the parking space S2 on the display device 15 in the passenger compartment, for example, together with the host vehicle C and surrounding obstacles. Can do. In that case, the driver only needs to move the host vehicle C along the guidance routes G1 and G2, which is a driving assistance useful for the driver. Similarly, the exit support control unit displays the guidance route when the host vehicle C leaves the parking space S2 together with the host vehicle C and surrounding obstacles, for example, on the display device 15 in the passenger compartment. be able to. In that case, the driver only needs to move the vehicle C along the guidance route, which is also useful driving assistance for the driver.

Further, the parking support control unit and the exit support control unit can send a command to at least one of the steering ECU 4, the drive ECU 5, and the brake ECU 6 to move the host vehicle C by automatic traveling. The steering ECU 4 is an electronic control device that can control the turning angle of the steered wheels regardless of whether the driver performs a steering operation. The drive ECU 5 is an electronic control device that can perform output control of a power source and control of a power transmission device such as a transmission regardless of whether the driver operates the accelerator. The braking ECU 6 is an electronic control device that can control the braking force of the wheels regardless of whether the driver performs a braking operation.

The parking assist control unit is configured to control the steering ECU 4, the drive ECU 5, and the brake ECU 6 with or without the display of the host vehicle C or the like when parking by automatic driving is requested by the start instruction of the automatic driving instruction unit. A command is sent to at least one of them, and the vehicle C is moved automatically from the current position P1 to the parking space S2. That is, in this parking assist control, the host vehicle C can be parked by at least one of the steered wheel turning angle control, the power source output control, and the braking force control. For example, this parking assist control may control only the turning angle of the steered wheels along the guidance routes G1 and G2, and only outputs the power source between the current position P1 and the parking space S2. It may be one that controls, or only one that controls the braking force between the current position P1 and the parking space S2. However, when the remote parking is in a standby state by the operation of the remote parking start instructing unit, the parking support control unit moves the own vehicle C until it enters the parking space S2 if the remote parking execution condition described later is not satisfied. If the execution condition is satisfied, the host vehicle C is stopped at a position P3 where an area A to be described later is left before it completely enters the parking space S2.

In the same manner, the exit assistance control unit, when the exit from the automatic traveling is requested by the start instruction of the automatic traveling instructing unit, with the steering ECU 4 with or without displaying the own vehicle C or the like. A command is sent to at least one of the drive ECU 5 and the brake ECU 6 to cause the host vehicle C to exit automatically from the parking space S2 at the position P4. That is, in this exit support control, the host vehicle C can be exited by at least one of the steered wheel turning angle control, the power source output control, and the braking force control. For example, this exit support control may control only the turning angle of the steered wheels along the guidance route, and only controls the output of the power source until the exit from the parking space S2. It may be a thing and may control only the braking force until it finishes leaving from parking space S2.

By the way, there are a wide variety of parking spaces, and some parking spaces have obstacles such as walls behind and on the sides of the vehicle. For this reason, when the vehicle is completely in the parking space, the door cannot be opened widely, and it may be difficult for passengers to get on and off. Also, in this case, if there is an obstacle such as a wall in the back, the trunk or back door cannot be opened, and even if it can be opened, it may be difficult to take in and out the luggage. . For this reason, in order to improve ease of getting on and off and to make it easier to get in and out of luggage, passengers can get on and off and take in and out of the car when there are not enough cars in the parking space. It is desirable that the vehicle can be parked in the parking space.

Therefore, the parking assist device is configured to allow the vehicle to be parked in a parking space from a place where passengers (at least a driver) can easily get on and off and take in and out the luggage by remote control using a remote control device (so-called remote controller) 31. To do. In addition, the exit support device can cause the vehicle to exit from the parking space to a place where passengers can easily get on and off and load / unload luggage (for example, position P5 in FIG. 3) by remote control using the remote control device 31. Constitute. The remote operation ECU 3 performs arithmetic processing related to such remote parking control and remote exit control.

The remote operation device 31 is a device that allows an operator to operate the vehicle outside the vehicle. In addition to the remote parking end instruction unit described above, the forward operation unit that moves the vehicle forward, the reverse operation unit that moves the vehicle backward, and the vehicle A stop operation unit for stopping the operation.

When the forward operation unit is operated, the forward command is transmitted to the vehicle by radio, and the remote control ECU 3 sends the forward command to the drive ECU 5 and the brake ECU 6 directly or via the parking assist ECU 1. In this case, the drive ECU 5 controls the power source and the power transmission device to transmit the power from the power source to the drive wheels as the forward drive force, and the brake ECU 6 controls the brake device to stop the vehicle. Reduce the braking force generated for the purpose. When the reverse operation unit is operated, a reverse command is transmitted to the vehicle wirelessly, and the remote control ECU 3 sends a reverse command to the drive ECU 5 and the brake ECU 6 directly or via the parking assist ECU 1. In this case, the drive ECU 5 controls the power source and the power transmission device to transmit the power of the power source to the drive wheels as the reverse drive force, and the brake ECU 6 controls the brake device to stop the vehicle. Reduce the braking force generated for the purpose. When the stop operation unit is operated, a vehicle stop command is wirelessly transmitted to the vehicle, and the remote control ECU 3 sends the command to the drive ECU 5 and the brake ECU 6 directly or via the parking assist ECU 1. In this case, the drive ECU 5 controls the power source and the power transmission device to reduce the driving power of the driving wheel by reducing the power of the power source or by cutting off the transmission of the power, and the braking ECU 6 Controls the braking device to generate a braking force of a magnitude necessary for stopping the vehicle. Here, the upper limit of the vehicle speed at the time of remote parking or remote exit is set to a low speed at which the vehicle can be stopped immediately on the spot in accordance with the operation of the stop operation unit regardless of the traveling direction of the vehicle.

Here, after parking the vehicle, it is necessary to stop the power source that is running. And in a vehicle, stop control of a motive power source starts by turning off an ignition. For this reason, the remote operation device 31 is provided with an ignition operation unit. When the ignition operation unit is turned off, an ignition off signal is wirelessly transmitted to the vehicle, and ignition off control is performed on the vehicle side. At that time, the remote control ECU 3 causes the drive ECU 5 to stop the power source directly or via the parking assist ECU 1. Moreover, remote parking control is also complete | finished because an ignition turns off. Therefore, in this exemplary parking assistance device, the remote parking control is ended when any one of the off operation of the ignition operation unit and the operation of the remote parking end instruction unit is performed. Therefore, when the remote parking end instruction unit of the remote control device 31 is operated in order to reduce the number of operations by the operator at the end of remote parking, not only the remote parking control end command but also the ignition off signal is transmitted. It is desirable to make it. This is because it is not necessary to turn off the ignition operation unit after operating the remote parking end instruction unit.

On the other hand, when leaving a parked vehicle, it is necessary to first turn on the ignition and start the stopped power source. For this reason, the ignition operation unit also serves as a power source activation operation unit that activates the stopped power source. That is, when the ignition operation unit is turned on, the illustrated remote operation device 31 causes the power source activation command to be transmitted to the vehicle together with the ignition on signal, and the power source activation control is performed on the vehicle side together with the ignition on control. Configure to be implemented. At that time, the remote control ECU 3 sends a power source activation command to the drive ECU 5 directly or via the parking assist ECU 1 to activate the stopped power source. The remote operation device 31 may be provided with a power source activation operation unit together with an ignition operation unit that does not send a power source activation command.

In this example of the exit support device, together with the ignition on control, the remote exit control system is activated to enter a standby state so that the driver can remotely leave the vehicle. However, the remote operation device 31 may be provided with an instruction unit (hereinafter referred to as a “remote exit start instruction unit”) operated when the driver starts the remote exit control. When the remote exit start instruction unit is provided, for example, the remote exit start instruction unit is operated after the ignition operation unit is turned on to activate the remote exit control system. In this case, the remote operation device 31 may be configured to transmit an ignition ON signal together with a remote exit start command by operating the remote exit start instruction unit.

Also, the remote operation device 31 is provided with an instruction unit (hereinafter referred to as “remote exit end instruction unit”) that is operated when the remote exit control is terminated. When the remote exit end instruction unit is operated, a remote exit end instruction is wirelessly transmitted to the vehicle. When the remote exit control unit of the remote operation ECU 3 receives a remote exit end command after starting the movement of the vehicle by remote exit, the remote exit control system stops the remote exit control system with the ignition turned on, and ends the remote exit control. . At that time, if the vehicle continues to move, the remote exit control unit sends a vehicle stop command to the drive ECU 5 and the brake ECU 6 directly or via the parking assist ECU 1 to stop the vehicle. On the other hand, when the remote exit determination unit of the remote control ECU 3 receives a remote exit end command before the vehicle moves by remote exit, the remote exit control system stops the remote exit control system by turning off the ignition. End control. In this case, the remote exit control may be terminated by turning off the ignition operation unit.

Here, for example, when traveling by a remote operation from the position P1 to the parking space S2 in FIG. 2 is permitted, the moving distance of the vehicle is long, so that it is easily influenced by the operator's attention and operation ability. Similarly, when the vehicle is allowed to leave by the remote operation until it leaves the parking space S2, the vehicle travel distance is long, so that it is easily affected by the operator's attention and operation ability. In these cases, the operator also needs to steer the steered wheels with the remote operation device 31. Therefore, for an operator unfamiliar with the steering operation, remote parking or remote exit, which should be highly convenient, is more convenient. May result in damage. Therefore, in these cases, the safety may be reduced. For this reason, remote parking and remote exit from the outside of the vehicle ensure safety and convenience during remote operation in order to suppress the decline in safety and convenience of remote operation due to carelessness of the operator and low operation ability. It is desirable to allow implementation under limited conditions. Accordingly, the illustrated remote operation device 31 is not provided with an instruction unit (steering operation unit) for turning the steered wheels.

* Remote parking is permitted when a predetermined condition (hereinafter referred to as "remote parking permission condition") is satisfied. The determination is performed by the remote parking determination unit of the remote operation ECU 3. The remote parking determination unit determines whether to permit parking in the parking space by remote operation from outside the vehicle based on the positional relationship between the parking space and the vehicle. For example, the remote parking determination unit permits parking by remote operation when the current vehicle position is within a predetermined distance from the vehicle position after parking in the parking space. The predetermined distance is the shortest moving distance in the following remote parking. More specifically, parking by remote control is permitted when the moving distance from the own vehicle position to the own vehicle position after parking in the parking space is within a predetermined distance. In addition, the remote parking determination unit permits parking by remote operation when the parking space can be parked without changing the steering direction of the steered wheels.

Specifically, in this example, remote parking is permitted when all of the following three remote parking permission conditions are satisfied.

The first remote parking permission condition is when the vehicle can complete parking in the parking space without touching an obstacle. This first remote parking permission condition may be replaced when the moving vehicle does not touch the obstacle and when the vehicle after the parking and the obstacle are kept at a predetermined distance or more. The predetermined distance is, for example, a distance at which the door can be opened to such an extent that passengers can get on and off without being excellent in getting on and off.

The second remote parking permission condition is that the vehicle does not change the turning direction of the steered wheels (specifically, the vehicle does not change the steered direction of the steered wheels by an operator's steering operation) to the parking space. This is when it is possible to complete parking. The state is a state in which parking can be completed without switching the turning angle of the steered wheels to the left and right opposite to each other with the neutral position of the turning angle 0 (ie, without turning the vehicle back). Furthermore, the state in which parking can be completed without changing the steering direction of the steered wheels is to complete the parking in the state of the steered wheels in the current state (when performing parking permission determination by remote control). It is also a state where you can do. In more detail, the state in which parking can be completed with the current state of the steered wheels is that the vehicle is simply moved straight (that is, the steered wheels remain in a neutral position with a steered angle of 0). In the state where the parking can be completed, or when the steering angle is given to the neutral position, the parking can be completed by starting to move from there. When a turning angle is provided, the moving path is determined in consideration of the restoring force of the steered wheels toward the neutral position by the self-aligning torque. The reason for setting such a remote parking permission condition is that if the driver performs a steering operation with the remote operation device 31, as described above, the convenience of the driver and the safety of remote parking may be reduced. Because there is. Here, it is assumed that the second remote parking permission condition is satisfied when the parking can be completed without turning the vehicle and the parking can be completed in the state of the current steered wheels.

The third remote parking permission condition is when a part of the vehicle is in the parking space and parking can be completed by moving forward or backward in the parking space. More preferably, the vehicle is in a state where a part of the vehicle is in the parking space and parking can be completed in a short distance forward or backward in the parking space. This is because the operator can keep his / her attention until the parking is completed, and the remote parking operation can be safely performed regardless of the skill of the operator's operation ability, because only a short distance is moved forward or backward by remote control. .

Here, the shortest moving distance in the remote parking corresponds to a difference between at least the position of the vehicle that does not impair the driver's getting on and off and the position of the parked vehicle in the parking space. The position of the vehicle that does not impair the rideability of the driver is a position where the driver's seat door can be opened without worrying about contact with an obstacle, for example, a position where the driver's seat door can be fully opened. That is, the shortest moving distance in the remote parking indicates a distance related to the stop position of the vehicle when the remote parking is started. However, the shortest distance for remote parking in reverse is a vehicle that can open and close the trunk or back door without impairing the driver's boarding / exiting capability so as to ensure the ease of loading and unloading from the rear luggage compartment. And the position of the parked vehicle in the parking space. Also, depending on the shape of the trunk or back door, just because it can be opened and closed does not always mean that luggage can be easily taken in and out of the luggage compartment. For this reason, in this type of vehicle, the vehicle can be easily put in and out by opening the trunk or the back door without impairing the driver's ease of getting on and off (for example, securing the area A in FIG. 2) and the vehicle position P3. The difference from the position P4 of the parked vehicle in the space may be the shortest moving distance in the reverse remote parking.

On the other hand, implementation of remote leaving is permitted when a predetermined condition (hereinafter referred to as “remote leaving permission condition”) is satisfied. The determination is performed by the remote exit determination unit of the remote control ECU 3. The remote leaving determination unit permits leaving by remote operation when the vehicle can leave the parking space to a predetermined position without changing the turning direction of the steered wheels.

The predetermined position is a position of the vehicle (for example, position P5) that does not impair at least the above-described driver's boarding / exiting property. Further, in the case of remote exit in advance, the position of the vehicle that can open and close the trunk or the back door without impairing the driver's boarding / exiting property, in order to ensure the ease of loading / unloading the luggage from the rear luggage compartment, The position of the vehicle that does not impair the driver's getting on and off, and can easily open and close the luggage by opening the trunk or the back door is the predetermined position. On the other hand, further leaving the vehicle beyond this predetermined position may reduce the safety of remote exit. For this reason, it can be said that this predetermined position is for determining the longest moving distance in the remote exit. In this example, since the driving or operation of the driver is also related, as a reference, the predetermined position in the remote exit in the forward direction and the stop position of the vehicle when starting the remote parking in the reverse direction are used. They are in the same position. Similarly, the predetermined position in the case of remote exit in reverse is set to the same position as the stop position of the vehicle when starting remote parking in advance.

Specifically, in this example, remote exit is permitted when all of the following three remote exit permission conditions are satisfied.

The first remote exit permission condition is when the vehicle can complete the exit from the parking space to the predetermined position without touching the obstacle.

The second remote exit permission condition is that the turning direction of the steered wheels is not changed while the vehicle is moving (specifically, the vehicle does not change the steered direction of the steered wheels by an operator's steering operation). This is when the exit from the parking space to the predetermined position can be completed. As in the second remote parking permission condition, that state means leaving without turning the turning angle of the steered wheel left and right across the neutral position of the turning angle 0 (that is, without turning the vehicle back). A state that can be completed. Furthermore, the state where the exit can be completed without changing the steering direction of the steered wheels during movement is the state in which the steered wheels are in the current state (when performing the permission determination for exit by remote operation). It is also a state that can be completed. In more detail, the state where the exit can be completed with the current state of the steered wheels is that the vehicle is simply moved straight (that is, the steered wheels remain in a neutral position with a steered angle of 0). This means that you can complete the exit. The reason for setting such a remote exit permission condition is that if the driver performs a steering operation with the remote operation device 31, the convenience of the driver and the safety of remote exit may be reduced. Here, it is assumed that the second remote exit permission condition is satisfied when the exit can be completed without turning the vehicle and the exit can be completed while the current steered wheels are in the state.

Here, since the steered wheel has a steered angle with respect to the neutral position, even if the vehicle cannot complete the exit without touching the obstacle, the steered wheel can be returned to the neutral position. In some cases, the exit can be completed without touching the obstacles. Therefore, in this exit support apparatus, in that case, the second remote exit permission condition may be established by setting the steered wheels to the neutral position. In the state where the exit can be completed without changing the steering direction of the steered wheels during movement, if the steered wheel is parked with a steered angle with respect to the neutral position, Considering the restoring force to the neutral position side of the steered wheel by the self-aligning torque, it may include a state in which it can start moving from there and complete the exit to a predetermined position. Even in such a state of steered wheels, if the vehicle body is tilted with respect to the parking space, the steered wheels may return to the neutral position and the vehicle can complete the exit without touching the obstacles. It is possible.

The third remote exit permission condition is at least when there is an obstacle that obstructs the opening and closing of the driver's seat door when it is parked. When such obstacles do not exist, the driver's boarding / exiting performance has not deteriorated, so the driver gets into the vehicle and exits by himself / herself, or loads / unloads from the luggage compartment, rather than leaving remotely. This is because it is preferable to move it to a position where it becomes easy to ensure safety. Here, the third remote exit permission condition for exiting in the forward direction is that there is an obstacle that obstructs the opening and closing of the driver's door while parked, and the opening and closing of the parked trunk or back door. If there is an obstacle to be opened, or there is an obstacle that obstructs the opening and closing of the driver's door while parked, and the trunk or back door can be opened, the luggage can be taken in and out. It may be replaced with when there are obstacles that get in the way.

Hereinafter, calculation processing related to the remote parking control and remote exit control will be described with reference to the flowcharts of FIGS. 4 and 5.

First, the remote parking control will be described.

When the driver operates the parking support instruction unit in the control instruction unit 10 to instruct the start of parking support control, the parking support control system is activated (step ST1). At that time, if the driver wishes to perform remote parking, the driver may operate the remote parking start instruction unit together with the operation of the parking support instruction unit. Moreover, in this parking assistance apparatus, the start operation of the parking assistance instruction | indication part may serve as the instruction | indication of not only the start of parking assistance control but remote parking control.

The parking assistance ECU 1 determines whether or not an instruction to start parking (automatic parking) in automatic driving is given (step ST2). Here, when the automatic travel instruction unit in the control instruction unit 10 is started, it is determined that the start of automatic parking is instructed.

When the start of automatic parking is instructed, the parking assist ECU 1 determines whether or not automatic parking can be performed using the obstacle determination result by the periphery monitoring ECU 2 (step ST3). Here, for example, when a parking space is generated and a guidance route to the parking space is generated, it is determined that automatic parking can be performed.

When it is determined that the automatic parking can be executed, the parking support control unit of the parking support ECU 1 sends a command to at least one of the steering ECU 4, the drive ECU 5, and the brake ECU 6 to execute the automatic parking (step ST4). ). As a result, the vehicle enters an automatic parking operation.

On the other hand, in this parking assistance device, if the start of automatic parking is not instructed in step ST2 or if it is determined in step ST3 that execution of automatic parking is impossible, parking is performed by the driver's own driving. It is determined whether or not it is performed (step ST5). Here, for example, based on information obtained from the imaging result of the imaging device (for example, information that the vehicle is moving toward a parking space or a place corresponding to the parking space), the driver's accelerator operation, steering operation, and the like. Then, it is determined whether or not parking is performed by the driver's driving. For this reason, the parking space calculation unit of the parking assistance ECU 1 estimates at least the parking space where the vehicle is about to stop based on the change in the vehicle position recognized by the imaging device at the time of this determination. Parking assistance ECU1 will return to step ST2, if parking is not performed by a driver | operator's driving | operation.

The remote control ECU 3 determines whether or not the remote parking can be performed regardless of whether the parking is automatic parking or driving by the driver (step ST6). This determination is to determine whether or not all of the first to third remote parking permission conditions described above are satisfied. In the case of automatic parking, if there is no driver's brake operation, the vehicle continues to move during this determination. On the other hand, in the case of parking by the driver's driving, the vehicle may continue to move during the determination, or the vehicle may temporarily stop during the determination.

For example, the remote parking determination unit of the remote operation ECU 3 uses the imaging result of the imaging device to grasp the position of the vehicle with respect to the parking space and the attitude of the vehicle with respect to the parking space. Specifically, the remote parking determination unit calculates a difference (movement distance) between the current vehicle position and the vehicle position when it is within the parking space, and the vehicle is parallel to the parking space. It is judged whether or not it is. The remote parking determination unit then permits the second and third remote parking permissions based on the vehicle position and the attitude of the vehicle with respect to the parking space and the turning angle of the steered wheels (detected by the turning angle sensor 41). It is determined whether or not the condition is satisfied. In other words, the remote parking determination unit first completes parking in a short distance forward or backward without changing the steering direction of the steered wheels in the parking space where a part of the vehicle is in the parking space. Determine whether you can. If such parking is possible, the remote parking determination unit determines that the second and third remote parking permission conditions are satisfied. Subsequently, when the second and third remote parking permission conditions are satisfied, the remote parking determination unit performs such parking by using the determination result of the obstacle by the surrounding monitoring ECU 2 so that the own vehicle becomes an obstacle. Whether the first remote parking permission condition is satisfied or not is determined. The remote parking determination unit determines that the first remote parking permission condition is not established when there is an obstacle (mainly a static obstacle) that may be in contact with either one of the side and the traveling direction. judge.

The remote parking determination unit determines that execution of remote parking is impossible if at least one of the first to third remote parking permission conditions is not established, and uses the imaging result of the imaging device, It is determined whether or not parking in the parking space has been completed (step ST7).

Here, if the parking is not completed, all of the first to third remote parking permission conditions may be satisfied as the vehicle further moves, so the process returns to step ST6. On the other hand, when the parking is completed, it is not necessary to perform remote parking, so this calculation process is terminated.

The remote parking determination unit determines that the remote parking can be executed when all of the first to third remote parking permission conditions are satisfied, and that effect (in other words, the remote parking function is enabled). Notification) (step ST8). As the notification method, there are, for example, display on the display device 15 in the passenger compartment of the content that understands it, and transmission by voice to that effect. With this determination, the parking assist device can accept a parking command from the remote operation device 31.

When a driver who knows that desires to execute remote parking, he / she operates the remote parking start instructing unit if he / she has not operated the remote parking start instructing unit until the notification is made. Regardless of whether it is automatic parking or parking by own driving, it is sufficient to inform the driver in advance by using an operation guide or the like so that the vehicle is stopped by own braking operation when such notification information is obtained. .

The remote parking determination unit determines whether or not a remote parking control start instruction has been performed by an operation of the remote parking start instruction unit (step ST9).

Here, when the remote parking control start instruction is not performed, the process proceeds to step ST7, and it is determined whether or not parking in the parking space is completed. As described above, when the parking in the parking space has been completed, this calculation process ends. On the other hand, if the remote parking control start instruction has not been issued and parking has not been completed, the vehicle may continue to move, so the process returns to step ST6 and remote parking is executed again. Determine whether it is possible.

On the other hand, when the start instruction of the remote parking control is performed, the remote parking control unit of the remote operation ECU 3 turns on the remote parking control mode (remote parking mode) (step ST10), and remote parking control. Is in a standby state so that can be implemented. Here, when the movement of the vehicle by the automatic parking is continued at this stage, it is desirable to send a command to the drive ECU 5 and the brake ECU 6 to the parking assist control unit to stop the vehicle. When the vehicle is stopped by the control of the parking support control unit, the host vehicle C is stopped at the position P3 in FIG. 2 at the latest. In addition, when the driver continues to park without driving the brake, he / she informs the driver with visual information or auditory information to stop the vehicle, or controls the parking support control unit. Or just stop the vehicle. However, if the driver's intention is respected, the vehicle may continue to move. Although not illustrated, at this time, the process proceeds to step ST7, and it may be determined whether or not parking in the parking space is completed.

If the driver's intention to perform remote parking is unchanged, the driver gets off the vehicle with the remote control device 31 after stopping. At that time, the driver's seat door can be opened widely, so that the driver can easily get on and off. Further, when the driver gets off, there is a gap behind the vehicle by the area A in FIG. 2, so the trunk or back door can be easily opened and closed, and the luggage can be easily taken in and out of the luggage compartment. .

Here, if the shift lever and the transmission are not mechanically connected and the transmission is controlled by an electrical signal corresponding to the operation of the shift lever, the driver can park the shift lever or the button, for example. You may get off after operating to the range (so-called P range). However, in the standby state of the remote parking control, even if the parking range is operated, the parking gear is not locked. This is because if the parking gear is locked, the vehicle cannot move when performing remote parking. In addition, the driver does not have to perform an operation to the parking range when getting off. At this time, after the remote parking is completed, for example, the parking gear is locked by the parking assist ECU 1.

On the other hand, if the driver has no intention to perform remote parking, the driver operates the remote parking end instruction unit to cancel the standby state of the remote parking control, and ends the remote parking control.

The remote parking control unit determines whether or not there is a parking command from the remote operation device 31 when the remote parking control is in a standby state (step ST11). The parking command is a forward command accompanying the operation of the forward operation unit described above or a reverse command accompanying an operation of the reverse operation unit.

When the remote parking control unit receives the parking command, the remote parking control unit executes the remote parking according to the instruction content (step ST12). The forward parking or the reverse parking by the remote operation is executed by the remote parking control unit sending an instruction content to the drive ECU 5 directly or via the parking assist ECU 1.

The remote parking control unit determines whether or not remote parking has been completed (step ST13). For example, the remote parking control unit is a vehicle in which the vehicle is completely within the parking space (the own vehicle C has reached the position P4 in FIG. 2) and the stop operation unit of the remote operation device 31 is operated. When the stop command is received, it is determined that the remote parking is completed. The reason for adding the positional relationship between the vehicle and the parking space to the conditions for completing the parking is that, for example, the vehicle may be parked while repeatedly moving and stopping. is there.

When it is determined that the remote parking is completed, the remote parking control unit determines whether or not there is an ignition off command (step ST14). The off command is transmitted to the remote operation ECU 3 as an ignition off signal when the operator turns off the ignition operation unit of the remote operation device 31. Here, the determination in step ST14 is repeated until the off command is detected. And when the OFF command is detected, the remote parking control unit terminates the remote parking control by causing the drive ECU 5 to stop the power source and turning off the ignition directly or via the parking assist ECU 1 (step). ST15).

Here, it is desirable that the remote parking control unit outputs the off command by itself when the ignition off command is not detected until a predetermined time elapses after it is determined that the remote parking is completed. . This is because it is not preferable to prevent theft from remaining in a state where the vehicle can run despite having been parked, and also causes a reduction in fuel consumption performance and power consumption performance.

On the other hand, when it is determined that the parking command is not received in step ST11, the remote parking control unit determines whether or not there is a remote parking control end command (step ST16). The end command is output by the operation of the operator's control instruction unit 10 or the remote parking end instruction unit in the remote operation device 31. Further, this end command is output, for example, by the remote parking control unit itself when neither the parking command nor the vehicle stop command is received for a predetermined time after the remote parking mode is turned on. When there is an end command, the remote parking control unit outputs an ignition off command, proceeds to step ST15, and ends the remote parking control. On the other hand, when there is no end command, the remote parking control unit returns to step ST11, until the parking command is received from the remote operation device 31 or until the remote parking control end command is output. The determinations in ST11 and step ST16 are repeated.

The remote parking control unit also proceeds to step ST16 when it is determined in step ST13 that remote parking has not been completed. In this case, if there is no remote parking control end command, the process returns to step ST11 to check whether the parking command is continuously performed. Thereafter, the remote parking control unit performs the arithmetic processing described above.

Next, remote exit control will be described.

After turning off the ignition, the remote control ECU 3 receives a signal from the remote control device 31 to start the remote exit control system (steps ST21 and ST22). In this example, as described above, when the ignition operation unit of the remote operation device 31 is turned on, the ignition is turned on and the system is activated.

When the system is activated by a signal different from the ignition on signal, the remote exit determination unit of the remote control ECU 3 determines whether or not the ignition on signal has been received after the system is activated. This determination is repeated until the ON signal is received. However, the remote exit determination unit may stop the system if an ignition ON signal is not received even after a predetermined time has elapsed since the system was started.

After the system is activated, the remote exit determination unit causes the drive ECU 5 to activate the power source directly or via the parking assist ECU 1 (step ST23).

After the power source is activated, the remote exit determination unit determines whether or not the steered wheels are directed straight (whether or not the steered wheels are in a neutral position with a steered angle of 0) (step ST24). Then, when the steered wheels are not in the straight traveling direction, the remote exit determination unit uses the imaging result of the current imaging device being parked or the imaging result during the previous parking operation to the vehicle body with respect to the parking space. Is not tilted (that is, is not parked diagonally with respect to the parking space) (step ST25).

When the vehicle body is not tilted with respect to the parking space, the remote exit determination unit sends a command to the steering ECU 4 directly or via the parking assist ECU 1 to control the steered wheels to the neutral position with the steered angle 0 (step ST26). .

When it is determined in step ST24 that the steered wheels are directed straight ahead, the remote exit determination unit determines whether or not remote exit is possible (step ST27). In this case, if it is determined that execution of remote exit is possible, the vehicle can exit straight to a predetermined position regardless of the posture of the vehicle with respect to the parking space. That is, the vehicle at this time may leave while moving straight along the parking space, or may go straight and leave while leaning with respect to the parking space. The remote exit determination unit also proceeds to step ST27 when the steered wheel is controlled to the neutral position in step ST26. In this case, if it is determined that the remote exit can be executed, the vehicle can exit to a predetermined position while going straight along the parking space. The remote exit determination unit also proceeds to step ST27 when it is determined in step ST25 that the vehicle body is tilted with respect to the parking space. In this case, if it is determined that the remote exit can be executed, the vehicle can exit to a predetermined position while turning according to the turning angle of the steered wheels.

The determination in step ST27 is to determine whether or not all of the first to third remote exit permission conditions described above are satisfied.

For example, the remote exit determination unit first determines whether or not the third remote exit permission condition is satisfied by using the obstacle determination result by the periphery monitoring ECU 2. If the driver can easily get in while the vehicle is present in the parking space (the vehicle C is present at the position P4 in FIG. 3), the remote exit determination unit 3rd It is determined that the remote exit permission condition is not satisfied. On the other hand, the remote exit determination unit determines that the third remote exit permission condition is satisfied when there is an obstacle that obstructs the opening and closing of the driver's seat door in that state. As described above, when the vehicle is to be withdrawn forward, the loading / unloading of the luggage from the rear luggage compartment may be taken into consideration. When the third remote exit permission condition is satisfied, the remote exit determination unit determines whether the first and second remote exits are based on the determination result of the periphery monitoring ECU 2, the posture of the vehicle body with respect to the parking space, and the turning angle of the steered wheels. It is determined whether the exit permission condition is satisfied. That is, the remote exit determination unit determines whether or not the vehicle can be exited from the parking space to a predetermined position without changing the steering direction of the steered wheels during movement and without touching an obstacle. judge. The remote exit determination unit determines that the first and second remote exit permission conditions are satisfied if such exit is possible.

The remote exit control unit of the remote operation ECU 3 determines that the remote exit can be executed when all of the first to third remote exit permission conditions are satisfied, and sets the remote exit control mode (remote exit mode). It is turned on (step ST28), and a standby state is set so that remote exit control can be performed. With this determination, the exit support apparatus can accept an exit instruction from the remote operation device 31.

On the other hand, the remote exit determination unit determines that execution of remote exit is impossible if any one of the first to third remote exit permission conditions is not established, and sends a command to the remote operation device 31. This remote control device 31 is notified of the prohibition of remote leaving (step ST29). The notification may be performed, for example, by displaying text information on the display unit of the remote operation device 31 or may be output by voice from a speaker of the remote operation device 31. Thereby, the operator of the remote operation device 31 knows that the remote operation cannot be performed.

When the remote exit determination unit receives a remote exit end command by operating the remote exit end instruction unit of the driver who has received the notification, the remote exit determination unit performs ignition off control (step ST30), stops the power source, and remotely Exit control is terminated. Here, if the remote exit determination command is not received even after a predetermined time has elapsed since the notification in step ST29, the remote exit determination unit outputs an ignition off command to stop the power source and The exit control may be terminated.

The remote exit control unit determines whether or not there is an exit command from the remote operation device 31 when the remote exit control is in a standby state (step ST31). The exit command is the aforementioned forward command or reverse command.

When the remote exit control unit has received the exit command, the remote exit control unit causes the remote exit according to the instruction content to be executed (step ST32). The advance / retreat operation or the reverse operation / retreat operation by the remote operation is executed by the remote exit control unit sending an instruction content to the drive ECU 5 directly or via the parking assist ECU 1. The operator may leave the vehicle while moving and stopping repeatedly.

The remote exit control unit determines whether opening / closing of the predetermined door is facilitated by the movement of the vehicle using the determination result of the periphery monitoring ECU 2 (step ST33). The predetermined door is at least a driver's seat door. In this case, it may be determined whether or not the driver's seat door can be opened to a place where the driver can easily get in. In addition, when looking at loading / unloading of luggage from the luggage compartment, if the vehicle has a trunk, the ease of opening / closing the trunk is determined.

The remote exit control unit determines whether or not the vehicle is stopped when it is determined that opening and closing of the predetermined door has become easy (step ST34).

If the vehicle is stopped, the remote exit control unit stops the remote exit control system while turning on the ignition, and ends the remote exit control (step ST35). On the other hand, when the vehicle is not stopped, the remote exit control unit sends a vehicle stop command to the drive ECU 5 and the brake ECU 6 to stop the vehicle (step ST36), proceeds to step ST35, and remotely turns on with the ignition turned on. The exit control system is stopped and the remote exit control is terminated.

On the other hand, if it is determined in step ST31 that the remote exit control unit has not received the exit command, the remote exit control unit determines whether or not a remote exit control end command has been received (step ST37). The end command is output by an operation of the remote exit end instruction unit in the remote operation device 31 of the operator. Further, this termination command is output, for example, by the remote exit control unit itself when neither the exit command nor the vehicle stop command is received for a predetermined time after the remote exit mode is turned on. When there is an end command, the remote exit control unit outputs an ignition off command, proceeds to step ST35, stops the remote exit control system, and terminates the remote exit control. On the other hand, if there is no termination command, the remote exit control unit returns to step ST31, and until the exit command is received from the remote operation device 31 or until the remote exit control termination command is output. The determinations of ST31 and step ST37 are repeated.

The remote exit control unit also proceeds to step ST37 if it is determined in step ST33 that opening / closing of the predetermined door is not easy. In this case, if there is no remote exit control end command, the process returns to step ST31 to check whether the exit command is continuously performed. On the other hand, if there is an end command, the remote exit control unit proceeds to step ST35, stops the remote exit control system, and terminates the remote exit control. In this case, the vehicle may be stopped with the ignition turned off, or the vehicle may be stopped without turning off the ignition.

As described above, the parking assistance device permits parking by remote control from outside the vehicle only within a short distance to the parking space. Similarly, the exit assistance device permits exit from the outside of the vehicle by remote control only within a short distance from the parking space. The distance is determined according to at least the ease of getting on and off by the driver. Moreover, the parking assistance apparatus permits remote parking only when remote parking can be completed without changing the steering direction of the steered wheels during movement. Similarly, the exit support device permits remote exit only when the remote exit can be completed without changing the steering direction of the steered wheels during movement. Therefore, the parking support device and the exit support device easily maintain attention until the operator finishes the remote parking and remote exit, and each of the parking support device and the exit support device is similarly installed in the remote parking or the remote control regardless of the skill of the operator. Remote exit operation can be performed. Therefore, the parking support device and the exit support device can safely perform remote parking and remote exit operations from outside the vehicle.

1 Parking assistance ECU
2 Perimeter monitoring ECU
3 Remote control ECU
4 Steering ECU
5 Drive ECU
6 Braking ECU
DESCRIPTION OF SYMBOLS 10 Control instruction | indication part 21 Peripheral information detection apparatus 31 Remote operation apparatus 41 Steering angle sensor C Own vehicle S1-S4 Parking space

Claims (11)

1. A parking space calculation unit for calculating the parking space of the own vehicle;
   A vehicle position calculation unit for calculating the vehicle position relative to the parking space;
   Based on the positional relationship between the parking space and the own vehicle, a remote parking determination unit that performs a parking permission determination to the parking space by remote operation from outside the vehicle,
   When parking by remote operation is permitted, a remote parking control unit that receives a parking command from a remote operation device and parks the vehicle in the parking space;
   A parking assistance device comprising:
2. The parking assistance device according to claim 1, wherein the remote parking determination unit permits parking by remote operation when the own vehicle position is within a predetermined distance with respect to the own vehicle position after parking in the parking space.
3. The parking assistance device according to claim 2, wherein the remote parking determination unit permits parking by remote operation when a moving distance from the own vehicle position to the own vehicle position after parking in the parking space is within the predetermined distance. .
4. The parking assistance according to claim 1, 2 or 3, wherein the remote parking determination unit permits parking by remote operation when the host vehicle can be parked in the parking space without changing the steering direction of the steered wheels. apparatus.
5. The remote parking determination unit performs parking by remote operation when a part of the vehicle is in the parking space and the vehicle can be parked in the parking space by moving forward or backward in the parking space. The parking assistance device according to any one of claims 1 to 4, wherein the parking assistance device is permitted.
6. A remote exit determination unit that performs permission determination of exit from the parking space by remote operation from outside the vehicle when the vehicle can exit from the parking space to a predetermined position without changing the steering direction of the steered wheels;
   A remote exit control unit that accepts an exit command from a remote control device when exiting by remote operation is permitted, and exits the vehicle from the parking space;
   An exit support apparatus characterized by comprising:
7. A parking support device that receives a parking command from a remote control device based on a positional relationship between the own vehicle and the parking space of the own vehicle and parks the own vehicle in the parking space.
8. The parking assistance device according to claim 7, wherein when the vehicle position is within a predetermined distance with respect to the vehicle position after parking in the parking space, a parking command is received from the remote control device.
9. The parking assistance device according to claim 8, wherein when the moving distance from the own vehicle position to the own vehicle position after parking in the parking space is within the predetermined distance, a parking command from the remote control device is received.
10. The parking assistance device according to claim 7, 8 or 9, wherein a parking command is received from the remote control device when parking in the parking space is possible without changing the steering direction of the steered wheels.
11. When it is possible to exit from the parking space of the own vehicle to a predetermined position without changing the steering direction of the steered wheels, the exit command from the remote control device is accepted and the own vehicle is exited from the parking space. Exit support device.

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