WO2014188548A1 - Parking assist device, and parking assist method - Google Patents

Parking assist device, and parking assist method Download PDF

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Publication number
WO2014188548A1
WO2014188548A1 PCT/JP2013/064275 JP2013064275W WO2014188548A1 WO 2014188548 A1 WO2014188548 A1 WO 2014188548A1 JP 2013064275 W JP2013064275 W JP 2013064275W WO 2014188548 A1 WO2014188548 A1 WO 2014188548A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
parking space
route
automatic warehousing
parking
Prior art date
Application number
PCT/JP2013/064275
Other languages
French (fr)
Japanese (ja)
Inventor
宏亘 石嶋
絵里子 山崎
啓介 尾山
英彦 三好
慶介 秦
Original Assignee
トヨタ自動車 株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by トヨタ自動車 株式会社 filed Critical トヨタ自動車 株式会社
Priority to PCT/JP2013/064275 priority Critical patent/WO2014188548A1/en
Publication of WO2014188548A1 publication Critical patent/WO2014188548A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically

Definitions

  • a vehicle equipped with a parking assistance device that supports the entry of a vehicle into a predetermined parking space.
  • a parking assist device executes automatic warehousing control for automatically merging a vehicle into a parking space based on a start command by a driver, and assists warehousing of the vehicle into the parking space through execution of the automatic warehousing control.
  • the driver first stops the vehicle at a start position P1 in the vicinity of the parking space PA. Thereafter, when the driver issues a start command for the automatic warehousing control, the vehicle is steered, moved forward, and moved backward so that the vehicle automatically enters the parking space PA as the automatic warehousing control by the parking assist device. . Specifically, after the vehicle is advanced from the start position P1 along the route RF, the vehicle is stopped at the stop position P2, and the vehicle is moved backward from the stop position P2 to the parking space PA along the route RB.
  • FIG. 13 is a graph showing a change of the steering angle with respect to an increase in the moving distance of the vehicle when performing automatic warehousing for the parking space PA of the vehicle by the automatic warehousing control.
  • the steering angle when the steering angle is set to “0”, the steering wheel of the vehicle is in a state of moving the vehicle straight.
  • the steered wheel rapidly turns the vehicle to the right when moving forward, while the steering angle is changed to the minus side more than “0”.
  • the steered wheels rapidly turn left when the vehicle is moving forward.
  • the vehicle is stored in the parking space PA through the routes RF and RB shown in FIG.
  • the parking assist device that solves the above problem includes a control unit that executes automatic warehousing control for automatically merging a vehicle into a parking space.
  • the control unit executes automatic warehousing control for automatically merging a vehicle into a parking space.
  • the control unit reaches the parking space by reversing the vehicle from the position of the vehicle.
  • a route is obtained, and automatic warehousing control is executed so that the vehicle is automatically moved to the parking space along the route.
  • the vehicle in the determination area is not subject to guidance by the parking support device so that the position of the vehicle at the start of automatic warehousing control is in the determination area. Is likely to be able to move. This is because the skilled driver knows sensuously that the determination area for the parking space is not guided or the like, and can easily move the vehicle into the determination area. At this time, since the parking assistance device does not guide the driver to move the vehicle into the determination area, the skilled driver does not feel bothered by the guidance. And after a vehicle is moved in the said determination area
  • control unit changes the determination area based on the directivity angle of the vehicle with respect to the parking space at the start of automatic warehousing control, and obtains a route from the vehicle position to the parking space at the start of automatic warehousing control. It can be considered that the route is obtained in response to a change in the determination area based on the directivity angle.
  • the determination area may be determined as an area where the vehicle can be retreated into the parking space regardless of the directivity angle of the vehicle with respect to the parking space at the start of the automatic warehousing control. When the determination area is determined in this way, there is a limit to the large determination area.
  • the determination area can be enlarged as much as possible.
  • the determination area enlarged as much as possible in this way changes according to the directivity angle. Then, by obtaining a route from the position of the vehicle in the determination region to the parking space at the start of the automatic warehousing control corresponding to the change in the determination region based on the directivity angle, the vehicle can be moved backward as the same route. It is possible to increase the chances of seeking the realized route. As a result, it is possible to increase opportunities for the vehicle to enter the parking space by moving the vehicle in the automatic storage control along the route.
  • the control unit moves the vehicle forward for the first time and then moves the vehicle against the parking space by moving the vehicle once. It may be configured to obtain a route that can be received. In this case, the route from the position of the vehicle at the start of automatic warehousing control to the parking space by forward and backward movement of the vehicle can be made as short as possible.
  • the electronic control device 9 includes a shift position sensor 11 that detects an operation position of the shift lever 10 operated by the driver, an accelerator position sensor 13 that detects an operation amount of the accelerator pedal 12 that is depressed by the driver.
  • the brake switch 15 is also connected to detect whether or not the driver depresses the brake pedal 14.
  • the electronic control device 9 includes a wheel speed sensor 16 that detects the rotational speed of wheels (steering wheels 1 and the like) in the vehicle, an angle sensor 17 that detects a steering operation angle in the steering device 2, and a motor 2a in the device 2.
  • a temperature sensor 18 for detecting the temperature and a yaw rate sensor 19 for detecting the change speed of the rotation angle when the vehicle turns are connected.
  • the electronic control unit 9 uses the information regarding the parking space stored in the memory as described above, and the parking space PA to be a warehousing target of the vehicle. And the vehicle is automatically stored in the parking space PA through the automatic storage control.
  • FIG. 4 shows the movement of the vehicle by the automatic warehousing control.
  • This automatic warehousing control is performed in detail as follows. That is, when the driver gives an instruction to start automatic warehousing control while the vehicle is traveling in the vicinity of the parking space PA, the driver tries to start automatic warehousing of the vehicle to the parking space PA by automatic warehousing control. The vehicle is stopped at a position where it is easy to enter the parking space PA, for example, at a stop position Ps in the figure.
  • the electronic control unit 9 FIG. 1), when the start command is given and the vehicle is stopped by the driver, at the timing when the vehicle should automatically enter the parking space PA by the automatic entry control. Recognize that there is, and perform the above automatic warehouse.
  • the electronic control device 9 When the electronic control device 9 performs automatic warehousing of the vehicle with respect to the parking space PA, the relative position (stop position Ps) of the vehicle with respect to the parking space PA when the vehicle stops, that is, the vehicle at the start of automatic warehousing control.
  • the route of the vehicle (the route R in the example of FIG. 4) when performing the automatic warehousing is determined according to the position of the vehicle.
  • the electronic control apparatus 9 grasps
  • the prime mover 21, the gear mechanism 22, the brake device 23, and the steering device 2 are controlled. Thereby, the automatic warehousing of the vehicle with respect to the parking space PA is performed.
  • the driver may stop the vehicle outside the determination area where the vehicle can be warehousing only by retreating to the parking space PA.
  • the vehicle is stopped in front of the parking space PA as shown in FIG. 5, or the vehicle is stopped in front of the determination area as shown in FIG.
  • the stop position Ps of the vehicle may be outside the determination area. In this case, a route from the stop position Ps to the parking space PA by the forward and backward movement of the vehicle is obtained.
  • a route (hereinafter referred to as a second route) in which the vehicle can be stored in the parking space PA once the vehicle has moved forward is required.
  • the second route is a route that allows the vehicle to enter the determination area from the stop position Ps by a single forward movement, and further reaches the parking space PA by a single backward movement from the determination area.
  • the driver cannot move the vehicle to the determination region and is out of the determination region.
  • the vehicle may be stopped. In this case, it is determined whether or not the vehicle can be moved in the determination area based on the determination area and the presence / absence of objects existing around the determination area, and when the vehicle cannot move in the determination area.
  • a route (hereinafter referred to as a third route) that can realize the warehousing of the vehicle with respect to the parking space PA with the smallest possible number of forward and backward movements of the vehicle. Ask.
  • the stop position Ps of the vehicle used for obtaining the first to third routes is set at the center C between the rear wheels 20 of the vehicle.
  • the vehicle with respect to the parking space PA is determined.
  • the center C between the rear wheels 20 of the vehicle (two-dot chain line in FIG. 4) when it is assumed that the warehousing has been completed is set as the position of the parking space PA.
  • the area A in FIG. 4 included in the determination area is that the vehicle is parked only backwards regardless of the directivity angle ⁇ of the vehicle with respect to the parking space PA when the driver stops the vehicle at the stop position Ps.
  • This is an area that can be stored in the space PA.
  • the directivity angle ⁇ is “L1”, which is a straight line extending in the front-rear direction of the vehicle when it is assumed that the parking space PA has been stored, and a straight line extending in the front-rear direction of the vehicle stopped at the stop position Ps is “ L2 ”is a value represented by the inclination angle of the straight line L2 with respect to the straight line L1 on the horizontal plane.
  • the determination area may be determined only in the area A, but when the determination area is determined in this way, there is a limit even if the determination area is made large.
  • the area B in which whether or not the stopped vehicle can be stored in the parking space PA only by reversing depends on the directivity angle ⁇ of the vehicle, in other words, depending on the directivity angle ⁇ , the vehicle is retreated.
  • FIG. 9 shows a situation where the stop position Ps of the vehicle is in the region B. If the vehicle in the parking space PA is turned at the minimum turning radius R determined by the model of the vehicle, the vehicle will travel along a curve L3 shown in the figure, for example. At this time, the relationship between the directivity angle ⁇ of the vehicle and the travel distance P is expressed by the following equation (1).
  • retreating from the stop position Ps with respect to the parking space PA is described above. It can be obtained from equation (1).
  • a distance along the curve L3 between the stop position Ps and the position (center C) of the parking space PA is used.
  • the stop position Ps is based on the position (center C) of the parking space PA, and the distance X between the position and the parking space PA in the depth direction (vertical direction in the figure), and the parking space PA.
  • the distance X and the distance Z can be obtained using the following formulas (2) and (3), respectively.
  • the distance X and the distance Z are obtained using the equations (2) and (3) based on the maximum value ⁇ max of the directivity angle ⁇ obtained by the equation (1) and the travel distance P used in the equation (1).
  • the stop position Ps determined by the distance X and the distance Z is a position corresponding to an arbitrary point of the portion overlapping the region B on the curve L3.
  • the distance X and the distance Z obtained as described above are the minimum value Xmin and the minimum value of the distance Z that allow the vehicle that stops at the stop position Ps in the region B to enter the parking space PA only by reversing, respectively. Zmin.
  • the stop position Ps When the stop position Ps is in the region B, if the distance X and the distance Z that define the stop position Ps satisfy the conditions of “X ⁇ Xmin” and “Z ⁇ Zmin”, respectively, depending on the directivity angle ⁇ at that time Is in a situation where the vehicle can be stored in the parking space PA only by reversing the vehicle from the stop position Ps. Specifically, the maximum value ⁇ max is set according to the stop position Ps at that time, and if the set maximum value ⁇ max and the current directivity angle ⁇ are in the relationship “ ⁇ ⁇ ⁇ max”, the stop position Ps. Therefore, it can be determined that the vehicle can be stored in the parking space PA only by reversing the vehicle.
  • the electronic control device 9 when the electronic control device 9 is instructed to start automatic warehousing control and the driver stops the vehicle in the region B, that is, when the stop position Ps is in the region B, It is determined whether or not the above-described conditions of “X ⁇ Xmin”, “Z ⁇ Zmin”, and “ ⁇ ⁇ ⁇ max” are satisfied. If this condition is satisfied, the determination region is corrected so that the current stop position Ps in region B is also included in the determination region. Thereby, when the start command of the automatic warehousing control is made and the driver stops the vehicle in the area B, the determination area is determined based on the directivity angle ⁇ of the vehicle with respect to the parking space PA at that time. The determination area changes so as to enlarge as much as possible.
  • the electronic control device 9 determines the directivity angle when determining the route from the stop position Ps of the vehicle to the parking space PA.
  • the route is obtained in response to a change in the determination area based on ⁇ .
  • the driver When the driver is unfamiliar with driving the vehicle, when the vehicle is stopped after issuing a command to start automatic warehousing control, the driver puts the vehicle in a determination area where the vehicle can be admitted only by reversing the parking space PA. Whether it can be stopped by its own driving is unknown.
  • the vehicle is automatically stored in the parking space PA only by retreating through the automatic storage control by the electronic control unit 9. Specifically, if the stop position Ps when the driver stops the vehicle (the position of the vehicle at the start of the automatic warehousing control) is within the determination region, the parking space can be obtained only by reversing the vehicle from the stop position Ps. The first route described above is obtained as the route to PA. Thereafter, the vehicle is controlled so as to move along the first route through automatic warehousing control of the electronic control device 9, whereby the vehicle is automatically entered into the parking space PA.
  • the vehicle moves forward with respect to the parking space PA through automatic warehousing control by the electronic control unit 9.
  • the vehicle is automatically received by reversing. Specifically, if the stop position Ps when the driver stops the vehicle (the position of the vehicle at the start of the automatic warehousing control) is outside the determination region, the vehicle is parked by moving forward and backward from the stop position Ps.
  • the second route or the third route described above is obtained as the route to the space PA.
  • the first vehicle from the stop position Ps.
  • the second route is required as a route that allows the vehicle to enter the parking space PA once the vehicle has moved forward. Thereafter, the vehicle is controlled so as to move along the second route through automatic warehousing control of the electronic control device 9, whereby the vehicle is automatically entered into the parking space PA.
  • the third route is required as a route that can realize the entry from the stop position Ps to the parking space PA with a small number of times. Thereafter, the vehicle is controlled so as to move along the third route through automatic warehousing control of the electronic control device 9, whereby the vehicle is automatically entered into the parking space PA.
  • the automatic parking garage control system automatically controls the parking space PA of the vehicle.
  • the warehousing is not redone. And since the automatic warehousing is not repeated by the redoing, the automatic warehousing can be completed without repeating.
  • the determination area for the parking space PA is known sensuously, and there is a high possibility that the vehicle can be easily stopped within the determination area. If the parking assist device guides the driver to move the vehicle into the determination area at this time, the skilled driver may feel annoyance with the guidance. However, since the parking assistance device does not guide the vehicle to move into the determination area at this time, the skilled driver does not feel bothered by the guidance.
  • FIGS. 10 and 11 are flowcharts showing a parking assistance routine for executing automatic warehousing control.
  • This parking assistance routine is periodically executed through the electronic control unit 9 with a time interruption every predetermined time.
  • the electronic control unit 9 determines whether or not each of the various flags F1, F2, F3, and F4 is the initial value “0” as the processing of steps 101 to 104 (S101 to S104) of FIG. . These flags F1 to F4 are changed from the initial value “0” to “1” according to various situations related to the execution of the automatic warehousing control, and are used for identifying these various situations. If all of the flags F1 to F4 are the initial value “0”, the process proceeds to S105.
  • the electronic control unit 9 determines whether or not an instruction to start automatic warehousing control has been issued by the driver as the process of S105, and if the determination is negative, the parking support routine is temporarily ended. On the other hand, when the electronic control unit 9 determines in S105 that the driver has issued a command for starting automatic warehousing control, the electronic control unit 9 sets the flag F4 to “1” as the processing in S106, and then parks the parking space PA where the vehicle can be admitted. The process proceeds to S107 and S108 for determining whether or not there is.
  • the flag F4 is used to identify whether or not the driver has been instructed to start automatic warehousing control, and is set to “1 (commanded)” after the start command is issued. The Therefore, based on whether the flag F4 is the initial value “0 (no command)” or “1 (command completed)”, whether or not the driver is instructed to start automatic warehousing control. Can be identified. If the flag F4 is set to “1”, a negative determination is made in the next process of S104, and the process of S105 and S106 is skipped and the process proceeds directly to S107.
  • the electronic control unit 9 captures information regarding the parking space stored in the memory as the process of S107, and determines whether there is a parking space PA where the vehicle can be stored based on the captured information as the subsequent process of S108. To do.
  • the electronic control unit 9 determines in S108 that there is no parking space PA in which the vehicle can be stored, the parking support routine is temporarily ended, and in S108, it is determined that there is a parking space PA in which the vehicle can be stored.
  • the electronic control unit 9 sets a determination area in which the vehicle can be stored only by reversing the parking space PA as the process of S109.
  • the determination area set at this time is when the driver tries to start automatic warehousing of the vehicle with respect to the parking space PA by automatic warehousing control, and the vehicle is stopped at a position where it is easy to enter the parking space PA. Regardless of the directivity angle ⁇ of the vehicle at that time, the vehicle can be stored in the parking space PA only by retreating from the stop position Ps.
  • the determination area at this time is set to an area A shown in FIG.
  • the electronic control unit 9 determines whether or not it is possible to cause the vehicle to reach the determination area as the processing of S110 in FIG. Specifically, the electronic control unit 9 uses the ultrasonic sensors 5 to 8 to detect the presence / absence of the object in the determination area and the surrounding area, thereby causing the vehicle to reach the determination area due to the object or the like. To determine whether this is possible. If the vehicle can reach the determination area, an affirmative determination is made in S110 and the process proceeds to S111. The electronic control unit 9 determines whether or not the vehicle has been stopped by the driver as the process of S111. If the determination is negative, the electronic control unit 9 sets the flag F3 to “1”. Thereafter, the electronic control unit 9 once ends the parking support routine.
  • the flag F3 is a state before the driver is instructed to start automatic warehousing control, and before the driver stops the vehicle in an attempt to start automatic warehousing of the parking space PA through the automatic warehousing control. In other words, it is for identifying whether or not the vehicle is waiting for the vehicle to stop.
  • the flag F3 is set to “1 (waiting for stopping)”. Accordingly, whether the driver is waiting for the vehicle to stop is identified based on whether the flag F3 is the initial value “0 (no waiting)” or “1 (waiting for stopping)”. Can do.
  • the flag F3 is set to “1”, a negative determination is made in the next process of S103 (FIG. 10), and the process after S104 is skipped and the process proceeds directly to S111 (FIG. 11).
  • the electronic control unit 9 corrects the determination area as a process of S113. Specifically, when the stop position Ps of the vehicle is within an area (area B shown in FIG. 9 or the like) in which the vehicle can only be moved backward with respect to the parking space PA depending on the directivity angle ⁇ , the above-described “X ⁇ It is determined whether the conditions of “Xmin”, “Z ⁇ Zmin”, and “ ⁇ ⁇ ⁇ max” are satisfied. If this condition is satisfied, the determination region is corrected so that the current stop position Ps in region B is also included in the determination region. Thereby, when the stop position Ps is in the area B, the determination area changes so that the determination area is expanded as much as possible based on the directivity angle ⁇ of the vehicle with respect to the parking space PA at that time.
  • the electronic control unit 9 determines whether or not a vehicle has entered the corrected determination area as a process of S114, in other words, whether or not the stop position Ps is in the determination area. If an affirmative determination is made here, a route (first route) from the stop position Ps to the parking space PA only by the backward movement of the vehicle is obtained as a process of S115. Thereafter, the electronic control unit 9 instructs the driver to perform a reverse command operation (shift change) of the shift lever 10 through a display on the display panel 3 or a sound from the speaker 4 as a process of S116. Furthermore, the electronic control unit 9 sets the flag F2 to “1” as the process of S117, and then temporarily terminates the parking support device.
  • the flag F2 indicates the state before the driver actually performs the shift change after instructing the driver to perform the shift change described above, in other words, whether the driver is waiting for the shift change by the driver. It is for identification.
  • the flag F2 is set to "1 (waiting for shift change)". Accordingly, whether the driver is in a state of waiting for a shift change by the driver is identified based on whether the flag F2 is the initial value “0 (no waiting for change)” or “1 (waiting for a change of change)”. be able to.
  • the flag F2 is set to “1”, a negative determination is made in the next process of S102 (FIG. 10), and the process after S103 is skipped and the process proceeds directly to S118 (FIG. 11).
  • the electronic control unit 9 executes automatic warehousing control as processing of S119. Specifically, the vehicle is automatically entered into the parking space PA by moving the vehicle along a route (in this case, the first route) from the stop position Ps to the parking space PA. Further, the electronic control unit 9 sets the flags F1 to F4 to the initial value “0” as the processing of S120, and then ends the parking support routine once.
  • a route in this case, the first route
  • the process of S114 if it is determined that the vehicle does not enter the corrected determination area, the process proceeds to S121.
  • the electronic control unit 9 determines whether or not the vehicle is stopped in front of the determination region as the process of S121. If the determination is affirmative, the electronic control unit 9 advances and reverses the vehicle from the stop position Ps as the process of S122. To obtain the route (second route) to the parking space PA.
  • the second route is a route that allows the vehicle to enter the parking space PA after the vehicle has moved forward once from the stop position Ps and then moved backward once.
  • the electronic control device 9 sequentially performs the automatic warehousing control in S119 and sets the flags F1 to F4 to “0” in S120, and then ends the parking support routine.
  • the vehicle is automatically stored in the parking space PA by moving the vehicle along the second route.
  • S123 and the subsequent steps Proceed to processing.
  • the electronic control unit 9 determines whether or not the vehicle is stopped by the driver. If the determination is negative, the electronic control unit 9 sets the flag F1 to “1”. Thereafter, the electronic control unit 9 once ends the parking support routine.
  • the flag F1 is the same as the flag F3, the driver is instructed to start automatic warehousing control, and the driver tries to start the automatic warehousing of the vehicle in the parking space PA through the automatic warehousing control. In other words, it is for identifying whether or not the vehicle is waiting to be stopped by the driver.
  • the flag F1 is set to “1 (waiting for stopping)”. Therefore, it is identified whether the driver is waiting for the vehicle to stop based on whether the flag F1 is the initial value “0 (no waiting)” or “1 (waiting for stopping)”. Can do. If the flag F1 is set to “1”, a negative determination is made in the next process of S101 (FIG. 10), and the process after S102 is skipped and the process proceeds directly to S123 (FIG. 11).
  • the electronic control unit 9 performs a route (third process) from the stop position Ps to the parking space PA by forward and backward movement of the vehicle as a process of S125. Path).
  • This third route is a route that allows the vehicle to enter the parking space PA from the stop position Ps with the smallest possible number of forward and backward movements of the vehicle.
  • the electronic control unit 9 uses the display panel 3 to notify the driver that the vehicle is automatically stored in the parking space PA by moving the driver along the third route as a process of S126. This is implemented through display and sound from the speaker 4.
  • the electronic control device 9 sequentially performs the automatic warehousing control in S119 and the setting of the flags F1 to F4 to “0” in S120, and then ends the parking assistance routine.
  • the vehicle is automatically stored in the parking space PA by moving the vehicle along the third route.
  • the driver While the vehicle is traveling in the vicinity of the parking space PA, when the driver gives an instruction to start automatic warehousing control, the driver tries to start automatic warehousing of the vehicle with respect to the parking space PA by automatic warehousing control.
  • the vehicle is stopped at a position where it is easy to enter the parking space PA.
  • the electronic control unit 9 recognizes that when the start command is given and the vehicle is stopped by the driver, it is the timing to start the automatic storage of the vehicle with respect to the parking space PA by the automatic storage control. Perform automatic warehousing. That is, the electronic control device 9 (determines the route of the vehicle when performing the automatic warehousing according to the relative position (stop position Ps) of the vehicle with respect to the parking space PA when the vehicle is stopped.
  • the vehicle is automatically moved into the parking space PA by moving the vehicle along.
  • the vehicle can be stopped within a determination area where the vehicle can be admitted only by reversing the parking space PA. Not necessarily.
  • the vehicle is automatically stored in the parking space PA through the automatic storage control by the electronic control unit 9 as follows. That is, a route (second route or third route) from the stop position Ps when the driver stops the vehicle to the parking space PA due to forward and backward movement of the vehicle is obtained, and the vehicle along the route is obtained. By moving the vehicle, the vehicle is automatically stored in the parking space PA.
  • the automatic parking garage control system automatically controls the parking space PA of the vehicle.
  • the warehousing is not redone. And since the automatic warehousing is not repeated by the redoing, the automatic warehousing can be completed without repeating.
  • the vehicle in the case of a skilled driver, there is a high possibility that the vehicle can be stopped within the determination area without receiving guidance or the like after issuing an automatic warehousing control start command. If the parking assist device guides the driver to move the vehicle into the determination area at this time, the skilled driver may feel annoyance with the guidance. However, since the parking assistance device does not guide the vehicle to move into the determination area at this time, the skilled driver does not feel bothered by the guidance.
  • the vehicle is stopped within the determination area by the driver, the vehicle is automatically stored in the parking space PA through the automatic storage control by the electronic control device 9 as follows. That is, a route (first route) from the stop position Ps when the driver stops the vehicle to the parking space PA only by reversing the vehicle is obtained, and parking is performed by moving the vehicle along the route. The vehicle is automatically stored in the space PA.
  • the automatic warehousing control By executing the automatic warehousing control as described above, it can be completed without repeating the warehousing of the vehicle with respect to the parking space in the case of an unfamiliar driver, and it feels troublesome for a skilled driver.
  • the warehousing of the vehicle with respect to the parking space can be completed without any problems.
  • the determination area includes not only the area A but also a part of the area B adjacent to the area A.
  • the area A is an area where the vehicle can be moved into the parking space PA only by retreating regardless of the directivity angle ⁇ of the vehicle at the stop position Ps.
  • the region B is a region where the vehicle at the stop position Ps can be stored in the parking space PA only by retreating depending on the directivity angle ⁇ .
  • the determination area is expanded as much as possible by including in the determination area a portion in which the vehicle in the area B can enter the parking space PA only by retreating. Incidentally, the determination area that is enlarged as much as possible in this way changes in accordance with the directivity angle ⁇ .
  • a route (second route) from the stop position Ps to the parking space PA by the forward and backward movement of the vehicle is obtained.
  • the second route is a route that allows the vehicle to enter the determination area from the stop position Ps by a single forward movement, and further reaches the parking space PA by a single backward movement from within the determination area. Therefore, in this case, the route for automatically entering the vehicle from the stop position Ps to the parking space PA through the automatic entry control can be made as short as possible.
  • the cause of the driver stopping the vehicle outside the determination area is the presence of an object (obstacle) such as a wall around the determination area. Is mentioned. In this case, the presence of the object becomes an obstacle to the movement of the vehicle into the determination region, thereby causing a situation where the driver can stop the vehicle only outside the determination region.
  • the electronic control device 9 can move the vehicle into the determination area based on the determination area and the presence / absence of an object present around it after the automatic warehousing control start command is given.
  • a route (third route) that leads the vehicle from the stop position Ps to the parking space PA by the forward and backward movement of the vehicle is obtained.
  • This third route is a route that can realize the above-mentioned warehousing with as few times as possible when the vehicle at the stop position Ps of the vehicle is admitted into the parking space PA.
  • the vehicle is advanced more frequently than the second route instead of the second route.
  • a route may be used, or a route that has a greater number of times of moving the vehicle backward than the second route may be used.
  • the third route is used as a route for bringing the vehicle at the stop position Ps to the parking space PA by moving forward and backward, the vehicle is advanced more frequently than the third route instead of the third route.
  • a route may be used, or a route having a greater number of times of moving the vehicle backward than the third route may be used.
  • the stop position Ps when the driver stops the vehicle does not necessarily need to be set at the center C between the rear wheels 20 of the vehicle, and a portion other than the center C in the vehicle is set as the stop position Ps. May be.
  • a portion other than the center C in the vehicle is set as the stop position Ps. May be.
  • the entry of the vehicle into the parking space PA has been completed in accordance with the setting change of the stop position Ps described above.
  • a portion corresponding to the stop position Ps after the setting change in the vehicle is set as the position of the parking space PA.
  • the determination area may be set so as to include only the area A and not the area B.
  • the ultrasonic sensor is used for searching the parking space, but a camera such as a stereo camera or a monocular camera may be used.
  • SYMBOLS 1 Steering wheel, 2 ... Steering device, 2a ... Motor, 3 ... Display panel, 4 ... Speaker, 5-8 ... Ultrasonic sensor, 9 ... Electronic control unit, 10 ... Shift lever, 11 ... Shift position sensor, 12 ... Accelerator pedal, 13 ... accelerator position sensor, 14 ... brake pedal, 15 ... brake switch, 16 ... wheel speed sensor, 17 ... angle sensor, 18 ... temperature sensor, 19 ... yaw rate sensor, 20 ... rear wheel, 21 ... prime mover, 22 ... Gear mechanism, 23 ... Brake device.

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  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

When a driver intends to park his or her car at a parking space (PA) as the vehicle travels near the parking space (PA), the driver enters a start command for automatic parking control and stops the vehicle at a position that the driver considers will facilitate parking of the vehicle at the parking space (PA). An electronic control device determines a vehicle route for the automatic parking in accordance with a stop position (Ps) of the vehicle, and automatically moves the vehicle along the route to the parking space (PA). When the stop position (Ps) is within a determination region allowing the vehicle to park itself by moving backward with respect to the parking space (PA), a route that allows the vehicle to reach from the stop position (Ps) to the parking space (PA) by moving backward is determined as the route. On the other hand, when the stop position (Ps) is outside the determination region, a route that allows the vehicle to reach from the stop position (Ps) to the parking space (PA) by moving forward and backward is determined as the route.

Description

駐車支援装置及び駐車支援方法Parking assistance device and parking assistance method
　本発明は、駐車支援装置及び駐車支援方法に関する。 The present invention relates to a parking assistance device and a parking assistance method.
　自動車等の車両として、所定の駐車スペースに対する車両の入庫を支援する駐車支援装置を搭載したものが知られている。こうした駐車支援装置は、駐車スペースに対し車両を自動的に入庫させる自動入庫制御を運転者による開始指令に基づいて実行し、同自動入庫制御の実行を通じて駐車スペースに対する車両の入庫を支援する。なお、上記自動入庫制御は、例えば特許文献１に示されるように実行することが考えられる。 2. Description of the Related Art As a vehicle such as an automobile, a vehicle equipped with a parking assistance device that supports the entry of a vehicle into a predetermined parking space is known. Such a parking assist device executes automatic warehousing control for automatically merging a vehicle into a parking space based on a start command by a driver, and assists warehousing of the vehicle into the parking space through execution of the automatic warehousing control. In addition, it is possible to perform the said automatic warehousing control as shown by patent document 1, for example.
　図１２に示すように、特許文献１の自動入庫制御では、まず運転者が車両を駐車スペースＰＡの近傍の開始位置Ｐ１に停止させる。その後、運転者が上記自動入庫制御の開始指令を行うことにより、駐車支援装置による自動入庫制御として車両が駐車スペースＰＡに対し自動的に入庫するよう同車両の操舵、前進、及び後退が行われる。詳しくは、車両を開始位置Ｐ１から経路ＲＦに沿って前進させた後に停止位置Ｐ２で停止させ、その停止位置Ｐ２から経路ＲＢに沿って駐車スペースＰＡまで後退させる。 As shown in FIG. 12, in the automatic warehousing control of Patent Document 1, the driver first stops the vehicle at a start position P1 in the vicinity of the parking space PA. Thereafter, when the driver issues a start command for the automatic warehousing control, the vehicle is steered, moved forward, and moved backward so that the vehicle automatically enters the parking space PA as the automatic warehousing control by the parking assist device. . Specifically, after the vehicle is advanced from the start position P1 along the route RF, the vehicle is stopped at the stop position P2, and the vehicle is moved backward from the stop position P2 to the parking space PA along the route RB.
　図１３は、上記自動入庫制御による車両の駐車スペースＰＡに対する自動的な入庫を行う際における車両の移動距離の増加に対する操舵角の変化態様を示すグラフである。なお、車両においては、操舵角を「０」としたときには同車両の操舵輪が車両を直進させる状態となる。また、操舵角を「０」よりもプラス側に大きく変化させるほど操舵輪が前進時の車両を急速に右旋回させる状態となる一方で、操舵角を「０」よりもマイナス側に大きく変化させるほど操舵輪が前進時の車両を急速に左旋回させる状態となる。そして、車両の移動距離の変化に対応して車両の操舵角を図１３に実線で示すように変化させることにより、同車両が図１２に示す経路ＲＦ，ＲＢを通って駐車スペースＰＡに入庫される。 FIG. 13 is a graph showing a change of the steering angle with respect to an increase in the moving distance of the vehicle when performing automatic warehousing for the parking space PA of the vehicle by the automatic warehousing control. In the vehicle, when the steering angle is set to “0”, the steering wheel of the vehicle is in a state of moving the vehicle straight. In addition, as the steering angle is changed to the plus side more than “0”, the steered wheel rapidly turns the vehicle to the right when moving forward, while the steering angle is changed to the minus side more than “0”. The steered wheels rapidly turn left when the vehicle is moving forward. Then, by changing the steering angle of the vehicle as shown by the solid line in FIG. 13 in response to the change in the moving distance of the vehicle, the vehicle is stored in the parking space PA through the routes RF and RB shown in FIG. The
　ただし、上述した自動入庫制御では、最初に運転者が車両を停止させる位置、すなわち開始位置Ｐ１が駐車スペースＰＡに対し適切でないと、同車両を駐車スペースＰＡに対し入庫できない可能性がある。この場合、運転者が車両を駐車スペースＰＡに入庫することができないと判断した時点で、運転者による逆再生指令がなされて車両が上記自動入庫制御での同車両の動作と逆の動作で開始位置Ｐ１まで戻される。そして、運転者が開始位置Ｐ１を適切な位置に修正した後、再び運転者による自動入庫制御の開始指令がなされて駐車スペースＰＡに対する車両の自動的な入庫が行われる。こうした手順が駐車スペースＰＡに対する車両の入庫が完了するまで繰り返される。 However, in the automatic warehousing control described above, if the position where the driver first stops the vehicle, that is, the start position P1 is not appropriate for the parking space PA, the vehicle may not be admitted to the parking space PA. In this case, when the driver determines that the vehicle cannot be stored in the parking space PA, a reverse regeneration command is issued by the driver, and the vehicle starts with an operation opposite to the operation of the vehicle in the automatic storage control. It is returned to position P1. Then, after the driver corrects the start position P1 to an appropriate position, the driver is again instructed to start automatic warehousing control, and the vehicle is automatically admitted to the parking space PA. Such a procedure is repeated until the entry of the vehicle into the parking space PA is completed.
特開平１０－１６７１０３公報JP-A-10-167103
　特許文献１での自動入庫制御においては、駐車スペースＰＡに対し車両を入庫させることができない場合、その入庫を完了させることができるまで、車両を開始位置Ｐ１まで戻して運転者が開始位置Ｐ１を修正するという動作が繰り返されるため、そうした動作の繰り返しが運転者にとって煩わしいものとなる。 In the automatic warehousing control in Patent Document 1, if the vehicle cannot be stored in the parking space PA, the driver returns the vehicle to the start position P1 until the warehousing can be completed, and the driver sets the start position P1. Since the operation of correcting is repeated, the repetition of such an operation becomes troublesome for the driver.
　また、これとは別の駐車スペースに対する車両の自動的な入庫の仕方として、次のような入庫の仕方を採用することも考えられる。すなわち、まず車両を一度の後退のみで駐車スペースに入庫可能な開始位置を設定し、運転者が車両を同開始位置まで移動できるよう駐車支援装置によって誘導した後、自動入庫制御の実行を通じて同開始位置から車両を自動的に駐車スペースに入庫させるようにすることも考えられる。この場合、上述したような駐車スペースに対し車両の入庫を完了させるための動作の繰り返し、及び、それに起因する運転者の煩わしさを解消することができるようにはなる。 Also, it is possible to adopt the following way of warehousing as a way of automatic warehousing of a vehicle in another parking space. In other words, after setting the start position where the vehicle can be stored in the parking space with only one backward movement, the driver is guided by the parking support device so that the vehicle can be moved to the same start position, and then the automatic start control is executed. It is also conceivable to have the vehicle automatically enter the parking space from the position. In this case, the repetition of the operation for completing the entry of the vehicle into the parking space as described above, and the troublesomeness of the driver due to the operation can be eliminated.
　しかし、この場合には駐車支援装置による誘導に従って運転者自らが開始位置まで車両を移動させなければならず、不慣れな運転者にとっては難しい運転操作であることは否めない。一方、熟練した運転者にとっては駐車支援装置による誘導を受けるまでもなく感覚的に上記開始位置が分かっており、その開始位置まで車両を移動させることが容易であることから上記誘導を煩わしく感じるという問題がある。 However, in this case, the driver has to move the vehicle to the start position according to the guidance by the parking assistance device, and it cannot be denied that this is a difficult driving operation for an unfamiliar driver. On the other hand, a skilled driver knows the start position sensuously without receiving guidance by the parking assistance device, and feels that the guidance is troublesome because it is easy to move the vehicle to the start position. There's a problem.
　本発明の目的は、不慣れな運転者の場合には駐車スペースに対する車両の入庫を繰り返し行うことなく完了させることができ、熟練した運転者の場合には煩わしさを感じることなく駐車スペースに対する車両の入庫を完了させることができる駐車支援装置及び駐車支援方法を提供することにある。 The object of the present invention can be completed without repeating the warehousing of the vehicle in the parking space in the case of an unfamiliar driver, and the vehicle in the parking space without feeling inconvenience in the case of a skilled driver. It is providing the parking assistance apparatus and parking assistance method which can complete warehousing.
　以下、上記課題を解決するための手段及びその作用効果について記載する。 In the following, means for solving the above problems and their effects are described.
　上記課題を解決する駐車支援装置は、駐車スペースに対し車両を自動的に入庫させる自動入庫制御を実行する制御部を備える。この制御部は、自動入庫制御の開始時における車両の位置が同車両を前記駐車スペースに対し後退で入庫可能な判定領域内にあるときには、その車両の位置から同車両の後退で駐車スペースに至る経路を求め、その経路に沿って車両を駐車スペースにまで自動的に移動させるように自動入庫制御を実行する。また、上記制御部は、前記自動入庫制御の開始時における車両の位置が上記判定領域外にあるときには、その車両の停止位置から同車両の前進及び後退で駐車スペースに至る経路を求め、その経路に沿って車両を駐車スペースにまで自動的に移動させるように自動入庫制御を実行する。 The parking assist device that solves the above problem includes a control unit that executes automatic warehousing control for automatically merging a vehicle into a parking space. When the position of the vehicle at the start of the automatic warehousing control is within a determination area where the vehicle can be retracted with respect to the parking space, the control unit reaches the parking space by reversing the vehicle from the position of the vehicle. A route is obtained, and automatic warehousing control is executed so that the vehicle is automatically moved to the parking space along the route. In addition, when the position of the vehicle at the start of the automatic warehousing control is outside the determination region, the control unit obtains a route from the stop position of the vehicle to the parking space by forward and backward movement of the vehicle, and the route The automatic warehousing control is executed so that the vehicle is automatically moved to the parking space.
　運転者が車両の運転に不慣れな場合、自動入庫制御の開始時における車両の位置が駐車スペースに対し車両を後退で入庫可能な判定領域内の位置となるよう、同車両を運転者が自らの運転によって移動させることができるか否かは不明である。ここで、自動入庫制御の開始時における車両の位置が上記判定領域内の位置となるよう、運転者が車両を上記判定領域内に移動させることができれば、制御部による自動入庫制御を通じて、駐車スペースに対し車両が後退で自動的に入庫される。また、自動入庫制御の開始時における車両の位置が上記判定領域内の位置となるよう運転者が車両を上記判定領域内に移動させることができず、自動入庫制御の開始時に上記判定領域外に車両が位置している場合、制御部による自動入庫制御を通じて、駐車スペースに対し車両の前進及び後退により同車両が自動的に入庫される。従って、不慣れな運転者が自動入庫制御の開始時に車両を上記判定領域内に位置させた状態としておくことができなくても、自動入庫制御による車両の駐車スペースに対する自動的な入庫がやり直しさせられることはなく、その自動的な入庫を繰り返し行うことなく完了させることができる。 If the driver is unfamiliar with driving the vehicle, he / she can move the vehicle to its own position so that the position of the vehicle at the start of automatic warehousing control is within the determination area where the vehicle can be moved backward with respect to the parking space. Whether it can be moved by driving is unknown. Here, if the driver can move the vehicle into the determination area so that the position of the vehicle at the start of the automatic storage control becomes a position within the determination area, the parking space is determined through the automatic storage control by the control unit. On the other hand, the vehicle is automatically stored in reverse. In addition, the driver cannot move the vehicle into the determination area so that the position of the vehicle at the start of the automatic warehousing control is within the determination area. When the vehicle is located, the vehicle is automatically stored in the parking space by the forward and backward movement of the vehicle through the automatic storage control by the control unit. Therefore, even if an unfamiliar driver cannot keep the vehicle in the determination area at the start of automatic warehousing control, automatic warehousing for the parking space of the vehicle by automatic warehousing control can be performed again. It can be completed without repeating the automatic warehousing.
　一方、運転者が車両の運転に熟練している場合、自動入庫制御の開始時における車両の位置が上記判定領域内となるよう、駐車支援装置による誘導等を受けることなく同判定領域内に車両を移動させることができる可能性が高い。これは、熟練した運転者は、駐車スペースに対する上記判定領域が誘導等を受けるまでもなく感覚的に分かっており、その判定領域内まで車両を移動させることを容易に行えるためである。なお、このときには駐車支援装置が車両を上記判定領域内に移動させるよう運転者に対し誘導等を行うことはないため、その誘導等に対して熟練した運転者が煩わしさを感じることもない。そして、運転者によって車両が上記判定領域内に移動された後、制御部による自動入庫制御を通じて、駐車スペースに対し車両が後退で自動的に入庫される。 On the other hand, if the driver is skilled in driving the vehicle, the vehicle in the determination area is not subject to guidance by the parking support device so that the position of the vehicle at the start of automatic warehousing control is in the determination area. Is likely to be able to move. This is because the skilled driver knows sensuously that the determination area for the parking space is not guided or the like, and can easily move the vehicle into the determination area. At this time, since the parking assistance device does not guide the driver to move the vehicle into the determination area, the skilled driver does not feel bothered by the guidance. And after a vehicle is moved in the said determination area | region by a driver | operator, a vehicle is automatically stored by reverse | retreating with respect to a parking space through the automatic storage control by a control part.
　以上により、不慣れな運転者の場合には駐車スペースに対する車両の入庫を繰り返し行うことなく完了させることができ、熟練した運転者の場合には煩わしさを感じることなく駐車スペースに対する車両の入庫を完了させることができる。 As a result, inexperienced drivers can complete the vehicle entry without repetitive entry into the parking space, and skilled drivers complete the entry into the parking space without feeling bothered. Can be made.
　なお、上記制御部は、車両の運転者による前記自動入庫制御の開始指令がなされ、且つ、運転者が車両を停止させたとき、前記自動入庫制御を開始するように構成することが考えられる。 Note that the control unit may be configured to start the automatic warehousing control when an instruction to start the automatic warehousing control is given by the driver of the vehicle and the driver stops the vehicle.
　また、上記制御部は、自動入庫制御の開始時における駐車スペースに対する同車両の指向角度に基づいて判定領域を変化させ、自動入庫制御の開始時における車両の位置から駐車スペースに至る経路を求める際、指向角度に基づく上記判定領域の変化に対応して上記経路を求めるように構成することが考えられる。なお、上記判定領域については、自動入庫制御の開始時における駐車スペースに対する同車両の指向角度に関係なく、その車両を後退で駐車スペースに対し入庫させることができる領域に定めることも考えられるが、このように判定領域を定めた場合には同判定領域を大きくとることに限界がある。ここで、駐車スペースに対する上記車両の指向角度によっては、その車両を後退で駐車スペースに対し入庫できるか否かが変わってくる。言い換えれば、上記指向角度によっては車両を後退で駐車スペースに対し入庫できる領域が存在する。そうした領域も含めて上記判定領域を定めることにより、同判定領域を可能な限り拡大することができる。ちなみに、このように可能な限り拡大した上記判定領域は上記指向角度に応じて変化する。そして、自動入庫制御の開始時における上記判定領域内の車両の位置から駐車スペースに至る経路を、上記指向角度に基づく上記判定領域の変化に対応して求めることにより、同経路として車両の後退で実現される経路を求める機会を多くすることができる。その結果、その経路に沿った自動入庫制御での車両の移動により同車両を駐車スペースに入庫させる機会を多くすることができる。 Further, the control unit changes the determination area based on the directivity angle of the vehicle with respect to the parking space at the start of automatic warehousing control, and obtains a route from the vehicle position to the parking space at the start of automatic warehousing control. It can be considered that the route is obtained in response to a change in the determination area based on the directivity angle. Note that the determination area may be determined as an area where the vehicle can be retreated into the parking space regardless of the directivity angle of the vehicle with respect to the parking space at the start of the automatic warehousing control. When the determination area is determined in this way, there is a limit to the large determination area. Here, depending on the directivity angle of the vehicle with respect to the parking space, whether or not the vehicle can be moved into the parking space by moving backward is changed. In other words, depending on the directivity angle, there is an area where the vehicle can move backward and enter the parking space. By defining the determination area including such an area, the determination area can be enlarged as much as possible. Incidentally, the determination area enlarged as much as possible in this way changes according to the directivity angle. Then, by obtaining a route from the position of the vehicle in the determination region to the parking space at the start of the automatic warehousing control corresponding to the change in the determination region based on the directivity angle, the vehicle can be moved backward as the same route. It is possible to increase the chances of seeking the realized route. As a result, it is possible to increase opportunities for the vehicle to enter the parking space by moving the vehicle in the automatic storage control along the route.
　なお、上記制御部は、自動入庫制御の開始時における車両の位置を同車両の後輪間の中心に設定し、その車両の位置から駐車スペースに至る経路を求める際には、同駐車スペースに対する車両の入庫を完了したと仮定したときの同車両の後輪間の中心を駐車スペースの位置として設定するように構成することが考えられる。 The controller sets the position of the vehicle at the start of the automatic warehousing control at the center between the rear wheels of the vehicle, and determines the route from the vehicle position to the parking space. It is conceivable that the center between the rear wheels of the vehicle when it is assumed that the vehicle has been stored is set as the position of the parking space.
　また、上記制御部は、自動入庫制御の開始時における車両の位置が上記判定領域外にあるときには、最初に一度の車両の前進を行った後に一度の車両の後退で駐車スペースに対し同車両を入庫可能な経路を求めるように構成することが考えられる。この場合、自動入庫制御の開始時における車両の位置から同車両の前進及び後退によって駐車スペースに至る経路を可能な限り短くすることができる。 In addition, when the position of the vehicle at the start of the automatic warehousing control is outside the determination region, the control unit moves the vehicle forward for the first time and then moves the vehicle against the parking space by moving the vehicle once. It may be configured to obtain a route that can be received. In this case, the route from the position of the vehicle at the start of automatic warehousing control to the parking space by forward and backward movement of the vehicle can be made as short as possible.
　また、上記制御部は、上記判定領域及びその周りに存在する物体（障害物）の有無に基づいて同判定領域内に車両を移動可能であるか否かを判断し、その判断結果に基づいて次のように駐車スペースに至る経路を求めるように構成することが考えられる。すなわち、上記判定領域内への車両の移動が不可能であるときには、自動入庫制御の開始時における車両の位置から車両の前進及び後退を可能な限り少ない回数で車両の駐車スペースに対する入庫を実現できる経路を求める。この場合、障害物の存在等により運転者が車両を判定領域に移動させることができないとしても、同車両を可能な限り短い経路で駐車スペースに入庫させることができる。 Further, the control unit determines whether or not the vehicle can be moved within the determination region based on the determination region and the presence / absence of an object (obstacle) around the determination region, and based on the determination result. It is conceivable that the route to the parking space is obtained as follows. That is, when it is impossible to move the vehicle into the determination area, it is possible to implement entry into the parking space of the vehicle with the smallest possible number of forward and backward movements of the vehicle from the position of the vehicle at the start of the automatic entry control. Find a route. In this case, even if the driver cannot move the vehicle to the determination area due to the presence of an obstacle or the like, the vehicle can be stored in the parking space through the shortest route possible.
　さらに、上記課題を解決する駐車支援方法は、駐車スペースに対し車両を自動的に入庫させる自動入庫制御を実行する。同方法は、自動入庫制御の開始時における車両の位置が同車両を駐車スペースに対し後退で入庫可能な判定領域内にあるときには、その車両の位置から同車両の後退で駐車スペースに至る経路を求めること、自動入庫制御の開始時における車両の位置が前記判定領域外にあるときには、その車両の位置から同車両の前進及び後退で駐車スペースに至る経路を求めること、及び、前記求められた経路に沿って車両を駐車スペースにまで自動的に移動させるように自動入庫制御を実行すること、を備える。 Furthermore, the parking support method that solves the above-described problem executes automatic warehousing control that automatically enters the vehicle into the parking space. When the position of the vehicle at the start of the automatic warehousing control is within a determination area where the vehicle can be moved backward with respect to the parking space, the route from the vehicle position to the parking space when the vehicle moves backward is determined. Determining, when the vehicle position at the start of automatic warehousing control is outside the determination region, determining a route from the vehicle position to the parking space by forward and backward movement of the vehicle, and the determined route Performing automatic warehousing control so as to automatically move the vehicle to the parking space along the line.
駐車支援装置が適用される車両全体を示す略図。The schematic diagram which shows the whole vehicle to which a parking assistance apparatus is applied. 駐車場等での車両の走行態様を示す略図。The schematic diagram which shows the driving | running | working aspect of the vehicle in a parking lot etc. 駐車場等での車両の走行態様を示す略図。The schematic diagram which shows the driving | running | working aspect of the vehicle in a parking lot etc. 同装置を通じて実行される自動入庫制御による車両の動きを示す略図。The schematic diagram which shows the motion of the vehicle by the automatic warehousing control performed through the apparatus. 車両の停止態様を示す略図。The schematic diagram which shows the stop aspect of a vehicle. 車両の停止態様を示す略図。The schematic diagram which shows the stop aspect of a vehicle. 車両の停止態様を示す略図。The schematic diagram which shows the stop aspect of a vehicle. 車両の停止態様を示す略図。The schematic diagram which shows the stop aspect of a vehicle. 判定領域を説明するための略図。The schematic diagram for demonstrating a determination area | region. 自動入庫制御の実行手順を示すフローチャート。The flowchart which shows the execution procedure of automatic warehousing control. 自動入庫制御の実行手順を示すフローチャート。The flowchart which shows the execution procedure of automatic warehousing control. 従来の自動入庫制御による車両の動きを示す略図。The schematic diagram which shows the motion of the vehicle by the conventional automatic warehousing control. 車両の移動距離に対する操舵角の変化を示すグラフ。The graph which shows the change of the steering angle with respect to the moving distance of a vehicle.
　以下、駐車支援装置の一実施形態を図１～図１１に従って説明する。 Hereinafter, an embodiment of a parking assistance apparatus will be described with reference to FIGS.
　図１に示す車両には、同車両を走行させるための動力を出力する原動機２１、車両の前進及び後退を切り換えるためのギヤ機構２２、車両の制動を行うためのブレーキ装置２３、及び、車両の操舵輪１を動作させるためのステアリング装置２が設けられている。このステアリング装置２は、運転者によるステアリング操作を通じて上記操舵輪１の動作を行うものであり、運転者によるステアリング操作をモータ２ａによって補助する機能を有している。なお、同装置２は、運転者によるステアリング操作の有無に関係なく、モータ２ａのみによって上記操舵輪１の動作を行うことも可能となっている。車両の運転席には、運転に関係する情報等を表示するとともに運転者からの各種の操作を受け付けるタッチセンサ付きのディスプレイパネル３、及び、運転に関係する情報や警告を運転者に対し音声によって報知するスピーカ４が設けられている。 The vehicle shown in FIG. 1 includes a prime mover 21 that outputs power for running the vehicle, a gear mechanism 22 for switching between forward and reverse of the vehicle, a brake device 23 for braking the vehicle, A steering device 2 for operating the steering wheel 1 is provided. The steering device 2 operates the steering wheel 1 through a steering operation by a driver, and has a function of assisting the steering operation by the driver with a motor 2a. The device 2 can also operate the steered wheels 1 only by the motor 2a regardless of whether the driver performs a steering operation. The driver's seat of the vehicle displays information related to driving and the like, and a display panel 3 with a touch sensor that accepts various operations from the driver, and information and warnings related to driving by voice to the driver A speaker 4 for notification is provided.
　車両において、同車両の前端（図中上端）にはその付近に存在する物体の有無を検知するための複数の超音波センサ５が取り付けられており、同車両の前部における幅方向（図中左右方向）の側面には車両の幅方向の側方に存在する物体の有無を検知するための超音波センサ６が取り付けられている。また、車両の後端（図中下端）にはその付近に存在する物体の有無を検知するための複数の超音波センサ７が取り付けられており、同車両の後部における幅方向の側面には車両の幅方向の側方に存在する物体の有無を検知するための超音波センサ８が取り付けられている。 In the vehicle, a plurality of ultrasonic sensors 5 for detecting the presence or absence of an object existing in the vicinity of the vehicle are attached to the front end (upper end in the figure) of the vehicle, and the width direction (in the figure in the figure) An ultrasonic sensor 6 for detecting the presence or absence of an object present on the side in the width direction of the vehicle is attached to the side surface in the left-right direction). A plurality of ultrasonic sensors 7 for detecting the presence or absence of an object existing in the vicinity of the vehicle are attached to the rear end (lower end in the figure) of the vehicle. An ultrasonic sensor 8 for detecting the presence or absence of an object present on the side in the width direction is attached.
　これら超音波センサ５～８は、車両の各種制御を行うための電子制御装置９に接続されている。この電子制御装置９には、運転者によって操作されるシフトレバー１０の操作位置を検出するシフトポジションセンサ１１と、運転者によって踏み込み操作されるアクセルペダル１２の操作量を検出するアクセルポジションセンサ１３と、運転者によるブレーキペダル１４の踏み込み操作の有無を検出するブレーキスイッチ１５とも接続されている。更に、電子制御装置９には、車両における車輪（操舵輪１等）の回転速度を検出する車輪速センサ１６、ステアリング装置２におけるステアリング操作角を検出する角度センサ１７、同装置２におけるモータ２ａの温度を検出する温度センサ１８、及び、車両が旋回する際の回転角の変化速度を検出するヨーレートセンサ１９が接続されている。 These ultrasonic sensors 5 to 8 are connected to an electronic control unit 9 for performing various controls of the vehicle. The electronic control device 9 includes a shift position sensor 11 that detects an operation position of the shift lever 10 operated by the driver, an accelerator position sensor 13 that detects an operation amount of the accelerator pedal 12 that is depressed by the driver. The brake switch 15 is also connected to detect whether or not the driver depresses the brake pedal 14. Further, the electronic control device 9 includes a wheel speed sensor 16 that detects the rotational speed of wheels (steering wheels 1 and the like) in the vehicle, an angle sensor 17 that detects a steering operation angle in the steering device 2, and a motor 2a in the device 2. A temperature sensor 18 for detecting the temperature and a yaw rate sensor 19 for detecting the change speed of the rotation angle when the vehicle turns are connected.
　電子制御装置９は、原動機２１、ギヤ機構２２、ブレーキ装置２３、ステアリング装置２、ディスプレイパネル３、及びスピーカ４の動作を制御するとともに、運転者によるディスプレイパネル３の操作に基づく同パネル３からの信号を入力する。電子制御装置９は、駐車スペースに対し車両を自動的に入庫させる自動入庫制御を運転者による同制御の開始指令に基づいて実行する。このときの電子制御装置９は、上記自動入庫制御を実行する制御部として機能し、同制御の実行を通じて車両の駐車スペースに対する入庫を支援する。なお、上記自動入庫制御の開始指令は、例えば運転者によるディスプレイパネル３上での同制御の開始操作を通じて行われる。 The electronic control device 9 controls the operations of the prime mover 21, the gear mechanism 22, the brake device 23, the steering device 2, the display panel 3, and the speaker 4, and from the panel 3 based on the operation of the display panel 3 by the driver. Input the signal. The electronic control device 9 executes automatic warehousing control for automatically merging the vehicle into the parking space based on a start command for the control by the driver. The electronic control device 9 at this time functions as a control unit that executes the automatic warehousing control, and assists warehousing in the parking space of the vehicle through the execution of the control. The start command for the automatic warehousing control is performed through, for example, a start operation of the control on the display panel 3 by the driver.
　図２及び図３は、駐車場等での車両の走行態様を示している。電子制御装置９は、上述した自動入庫制御の開始指令に有無に関係なく、常に超音波センサ５～８（図１）を用いて車両を入庫可能な駐車スペースを探索しており、その探索を通じて発見した駐車スペースに関する情報をメモリに記憶する。例えば図２及び図３に示すように、車両の入庫可能な駐車スペースＰＡの近傍を車両が通過すると、その際に同駐車スペースＰＡに関する情報が電子制御装置９のメモリに記憶される。そして、駐車スペースＰＡの近傍で運転者による自動入庫制御の開始指令がなされると、電子制御装置９は、上述したようにメモリに記憶した駐車スペースに関する情報から車両の入庫対象となる駐車スペースＰＡを特定し、その駐車スペースＰＡに対し自動入庫制御を通じて車両を自動的に入庫させる。 2 and 3 show how the vehicle travels in a parking lot or the like. The electronic control device 9 always searches for a parking space where the vehicle can be stored using the ultrasonic sensors 5 to 8 (FIG. 1) regardless of whether or not the above-described automatic storage control start command is issued. Information about the discovered parking space is stored in a memory. For example, as shown in FIGS. 2 and 3, when the vehicle passes near the parking space PA where the vehicle can be stored, information on the parking space PA is stored in the memory of the electronic control device 9 at that time. And if the start instruction | command of the automatic warehousing control by the driver is made in the vicinity of the parking space PA, the electronic control unit 9 uses the information regarding the parking space stored in the memory as described above, and the parking space PA to be a warehousing target of the vehicle. And the vehicle is automatically stored in the parking space PA through the automatic storage control.
　図４は、上記自動入庫制御による車両の動きを示している。この自動入庫制御については、詳しくは次のように行われる。すなわち、駐車スペースＰＡの近傍での車両の走行中、運転者による自動入庫制御の開始指令がなされると、運転者は自動入庫制御による駐車スペースＰＡに対する車両の自動的な入庫を開始しようとして同車両を駐車スペースＰＡに対し入庫しやすいと思う位置、例えば図中の停止位置Ｐｓに停止させる。一方、電子制御装置９（図１）は、上記開始指令がなされ、且つ、運転者により車両が停止されたとき、自動入庫制御による駐車スペースＰＡに対する車両の自動的な入庫を開始すべきタイミングであると認識して上記自動的な入庫を行う。電子制御装置９は、駐車スペースＰＡに対する車両の自動的な入庫を行うに当たり、車両が停止したときの駐車スペースＰＡに対する同車両の相対位置（停止位置Ｐｓ）、すなわち自動入庫制御の開始時における車両の位置に応じて上記自動的な入庫を行う際の車両の経路（図４の例では経路Ｒ）を求める。そして、電子制御装置９は、角度センサ１７、車輪速センサ１６、及びヨーレートセンサ１９等を用いて車両の現在位置を把握し、その把握した車両の現在位置が上記求めた経路に沿って移動するよう原動機２１、ギヤ機構２２、ブレーキ装置２３、及びステアリング装置２を制御する。これにより、駐車スペースＰＡに対する車両の自動的な入庫が行われる。 FIG. 4 shows the movement of the vehicle by the automatic warehousing control. This automatic warehousing control is performed in detail as follows. That is, when the driver gives an instruction to start automatic warehousing control while the vehicle is traveling in the vicinity of the parking space PA, the driver tries to start automatic warehousing of the vehicle to the parking space PA by automatic warehousing control. The vehicle is stopped at a position where it is easy to enter the parking space PA, for example, at a stop position Ps in the figure. On the other hand, the electronic control unit 9 (FIG. 1), when the start command is given and the vehicle is stopped by the driver, at the timing when the vehicle should automatically enter the parking space PA by the automatic entry control. Recognize that there is, and perform the above automatic warehouse. When the electronic control device 9 performs automatic warehousing of the vehicle with respect to the parking space PA, the relative position (stop position Ps) of the vehicle with respect to the parking space PA when the vehicle stops, that is, the vehicle at the start of automatic warehousing control. The route of the vehicle (the route R in the example of FIG. 4) when performing the automatic warehousing is determined according to the position of the vehicle. And the electronic control apparatus 9 grasps | ascertains the present position of a vehicle using the angle sensor 17, the wheel speed sensor 16, the yaw rate sensor 19, etc., and the grasped present position of the vehicle moves along the calculated | required path | route. The prime mover 21, the gear mechanism 22, the brake device 23, and the steering device 2 are controlled. Thereby, the automatic warehousing of the vehicle with respect to the parking space PA is performed.
　上記自動的な入庫を行う際の車両の経路は、自動入庫制御の開始指令がなされた後、運転者によって決められた車両の停止位置Ｐｓに応じて、次のように求められる。すなわち、運転者による自動入庫制御の開始指令がなされた後、運転者が車両を駐車スペースＰＡに対し後退のみで入庫可能な判定領域内で停止させたときには、言い換えれば上記車両の停止位置Ｐｓが上記判定領域内にあるときには、その車両の停止位置Ｐｓから同車両の後退のみで駐車スペースＰＡに至る経路（以下、第１の経路という）が求められる。なお、図４の例では、上記判定領域として少なくとも図中の領域Ａが含まれており、上記第１の経路として経路Ｒが求められる。 The route of the vehicle when performing the automatic warehousing is obtained as follows according to the stop position Ps of the vehicle determined by the driver after the automatic warehousing control start command is given. In other words, after the driver has issued a command for starting automatic warehousing control, when the driver stops the vehicle within a determination area where the vehicle can be stored only by reversing the parking space PA, in other words, the stop position Ps of the vehicle is When within the determination area, a route (hereinafter referred to as a first route) from the stop position Ps of the vehicle to the parking space PA only by the backward movement of the vehicle is obtained. In the example of FIG. 4, at least the area A in the figure is included as the determination area, and the path R is obtained as the first path.
　一方、運転者による自動入庫制御の開始指令がなされた後、運転者が車両を駐車スペースＰＡに対し後退のみで入庫可能な判定領域外で停止させることもある。例えば、運転者が車両の運転に不慣れな場合、図５に示すように車両を駐車スペースＰＡの正面に停止させてしまったり、図６に示すように車両を上記判定領域の手前で停止させてしまったりして、上記車両の停止位置Ｐｓが上記判定領域外の位置となることがある。この場合、上記停止位置Ｐｓから同車両の前進及び後退によって駐車スペースＰＡに至る経路が求められる。 On the other hand, after the driver gives an instruction to start automatic warehousing control, the driver may stop the vehicle outside the determination area where the vehicle can be warehousing only by retreating to the parking space PA. For example, when the driver is unfamiliar with driving the vehicle, the vehicle is stopped in front of the parking space PA as shown in FIG. 5, or the vehicle is stopped in front of the determination area as shown in FIG. As a result, the stop position Ps of the vehicle may be outside the determination area. In this case, a route from the stop position Ps to the parking space PA by the forward and backward movement of the vehicle is obtained.
　より詳しくは、図５及び図６に示すように、運転者が車両を駐車スペースＰＡの正面など上記判定領域の手前で停止させてしまった場合には、同車両の停止位置Ｐｓから最初に一度の車両の前進を行った後に一度の車両の後退で駐車スペースＰＡに対し同車両を入庫可能な経路（以下、第２の経路という）が求められる。なお、この第２の経路は、車両を一度の前進により停止位置Ｐｓから上記判定領域内に侵入させ、更に同判定領域内から一度の後退により駐車スペースＰＡに至る経路となる。 More specifically, as shown in FIGS. 5 and 6, when the driver stops the vehicle in front of the determination area such as the front of the parking space PA, the driver first stops from the stop position Ps of the vehicle. A route (hereinafter referred to as a second route) in which the vehicle can be stored in the parking space PA once the vehicle has moved forward is required. The second route is a route that allows the vehicle to enter the determination area from the stop position Ps by a single forward movement, and further reaches the parking space PA by a single backward movement from the determination area.
　また、図７及び図８に示すように、判定領域及びその周りに存在する物体、例えば壁Ｗの存在により、運転者が車両を上記判定領域まで移動させることができずに同判定領域外に車両の停止させてしまうこともある。この場合、判定領域及びその周りに存在する物体の有無に基づいて同判定領域内に車両を移動可能であるか否かを判断し、同判定領域内への車両の移動が不可能であるときには、同車両の停止位置Ｐｓから駐車スペースＰＡに至る経路を求める際、車両の前進及び後退を可能な限り少ない回数で車両の駐車スペースＰＡに対する入庫を実現できる経路（以下、第３の経路）を求める。 Further, as shown in FIG. 7 and FIG. 8, due to the presence of the determination region and the surrounding object, for example, the wall W, the driver cannot move the vehicle to the determination region and is out of the determination region. The vehicle may be stopped. In this case, it is determined whether or not the vehicle can be moved in the determination area based on the determination area and the presence / absence of objects existing around the determination area, and when the vehicle cannot move in the determination area. When obtaining a route from the stop position Ps of the vehicle to the parking space PA, a route (hereinafter referred to as a third route) that can realize the warehousing of the vehicle with respect to the parking space PA with the smallest possible number of forward and backward movements of the vehicle. Ask.
　なお、上記第１～第３の経路を求めるために用いられる車両の停止位置Ｐｓは同車両の後輪２０間の中心Ｃに設定されており、それら経路を求める際には駐車スペースＰＡに対する車両の入庫を完了したと仮定したときの同車両（図４の二点鎖線）の後輪２０間の中心Ｃが駐車スペースＰＡの位置として設定されている。 Note that the stop position Ps of the vehicle used for obtaining the first to third routes is set at the center C between the rear wheels 20 of the vehicle. When obtaining these routes, the vehicle with respect to the parking space PA is determined. The center C between the rear wheels 20 of the vehicle (two-dot chain line in FIG. 4) when it is assumed that the warehousing has been completed is set as the position of the parking space PA.
　ちなみに、上記判定領域に含まれる図４の領域Ａは、運転者が車両を停止位置Ｐｓで停止させたときの駐車スペースＰＡに対する同車両の指向角度θに関係なく、その車両を後退のみで駐車スペースＰＡに対し入庫させることができる領域である。なお、上記指向角度θは、駐車スペースＰＡに入庫完了したと仮定したときの車両の前後方向に延びる直線を「Ｌ１」とし、且つ、停止位置Ｐｓで停止した車両の前後方向に延びる直線を「Ｌ２」としたとき、水平面上での直線Ｌ１に対する直線Ｌ２の傾斜角度によって表される値である。上記判定領域については領域Ａのみに定めることも考えられるが、このように判定領域を定めた場合には同判定領域を大きくとろうとしても限界がある。ここで、領域Ａの隣には、停止した車両を後退のみで駐車スペースＰＡに対し入庫できるか否かが同車両の指向角度θによって変わる領域Ｂ、言い換えれば指向角度θによっては上記車両を後退のみで駐車スペースＰＡに対し入庫できる領域Ｂが存在する。この領域Ｂのうちの一部、詳しくは上記指向角度θによっては車両を後退のみで駐車スペースＰＡに対し入庫できる部分も含めて上記判定領域を定めることにより、同判定領域を可能な限り拡大することが可能になる。 Incidentally, the area A in FIG. 4 included in the determination area is that the vehicle is parked only backwards regardless of the directivity angle θ of the vehicle with respect to the parking space PA when the driver stops the vehicle at the stop position Ps. This is an area that can be stored in the space PA. The directivity angle θ is “L1”, which is a straight line extending in the front-rear direction of the vehicle when it is assumed that the parking space PA has been stored, and a straight line extending in the front-rear direction of the vehicle stopped at the stop position Ps is “ L2 ”is a value represented by the inclination angle of the straight line L2 with respect to the straight line L1 on the horizontal plane. The determination area may be determined only in the area A, but when the determination area is determined in this way, there is a limit even if the determination area is made large. Here, next to the area A, the area B in which whether or not the stopped vehicle can be stored in the parking space PA only by reversing depends on the directivity angle θ of the vehicle, in other words, depending on the directivity angle θ, the vehicle is retreated. There is an area B that can be stored in the parking space PA. By defining the determination area including a part of the area B, specifically, a part where the vehicle can be moved into the parking space PA only by reversing depending on the directivity angle θ, the determination area is enlarged as much as possible. It becomes possible.
　図９は、車両の停止位置Ｐｓが領域Ｂ内にある状況を示している。仮に、駐車スペースＰＡに入庫している車両を同車両の緒元によって定まる最小旋回半径Ｒで旋回させたとすると、同車両は例えば図中に示す曲線Ｌ３に沿って走行するようになる。このときの車両の指向角度θと走行距離Ｐとの関係は、次の式（１）で示す関係となる。なお、この式（１）で用いられる旋回曲率γは、上記最小旋回半径Ｒに対し「γ＝（１／Ｒ）」の関係を有する固定値である。 FIG. 9 shows a situation where the stop position Ps of the vehicle is in the region B. If the vehicle in the parking space PA is turned at the minimum turning radius R determined by the model of the vehicle, the vehicle will travel along a curve L3 shown in the figure, for example. At this time, the relationship between the directivity angle θ of the vehicle and the travel distance P is expressed by the following equation (1). The turning curvature γ used in the equation (1) is a fixed value having a relationship of “γ = (1 / R)” with respect to the minimum turning radius R.
Figure JPOXMLDOC01-appb-M000001
 　そして、曲線Ｌ３上における領域Ｂと重なる部分の任意の点を停止位置Ｐｓとした場合、その停止位置Ｐｓから車両を駐車スペースＰＡに対し後退のみで入庫できる指向角度θの最大値θｍａｘを、上記式（１）から求めることができる。このときの式（１）での走行距離Ｐとしては、上記停止位置Ｐｓと駐車スペースＰＡの位置（中心Ｃ）との間の曲線Ｌ３に沿った距離が用いられる。また、上記停止位置Ｐｓは、駐車スペースＰＡの位置（中心Ｃ）を基準とし、その位置との間の駐車スペースＰＡの奥行き方向（図中上下方向）についての距離Ｘ、及び、同駐車スペースＰＡの幅方向（図中左右方向）についての距離Ｚを用いて定めることができる。更に、これら距離Ｘ及び距離Ｚはそれぞれ、次の式（２）及び式（３）を用いて求めることができる。
Figure JPOXMLDOC01-appb-M000001
 And when the arbitrary point of the part which overlaps with the area | region B on the curve L3 is made into the stop position Ps, the maximum value (theta) max of directivity angle (theta) which can enter a vehicle only by reversing | retreating from the stop position Ps with respect to the parking space PA is described above. It can be obtained from equation (1). As the travel distance P in the equation (1) at this time, a distance along the curve L3 between the stop position Ps and the position (center C) of the parking space PA is used. The stop position Ps is based on the position (center C) of the parking space PA, and the distance X between the position and the parking space PA in the depth direction (vertical direction in the figure), and the parking space PA. Can be determined using the distance Z in the width direction (left and right direction in the figure). Further, the distance X and the distance Z can be obtained using the following formulas (2) and (3), respectively.
Figure JPOXMLDOC01-appb-M000002
Figure JPOXMLDOC01-appb-M000002
Figure JPOXMLDOC01-appb-M000003
 　なお、式（１）で求めた指向角度θの最大値θｍａｘ、及び、式（１）で用いた走行距離Ｐに基づき、式（２）及び（３）を用いて距離Ｘ及び距離Ｚを求めると、それら距離Ｘ及び距離Ｚによって定められる停止位置Ｐｓが曲線Ｌ３上における領域Ｂと重なる部分の任意の点に相当する位置となる。領域Ｂにおいては、停止位置Ｐｓを定める距離Ｘ及び距離Ｚがそれぞれ小さくなるほど、車両を上記停止位置Ｐｓから後退のみで駐車スペースＰＡに入庫することは難しくなる。従って、上述したように求められる距離Ｘ及び距離Ｚはそれぞれ、領域Ｂ内の停止位置Ｐｓで停止する車両を後退のみで駐車スペースＰＡに入庫可能な距離Ｘの最小値Ｘｍｉｎ及び距離Ｚの最小値Ｚｍｉｎとなる。
Figure JPOXMLDOC01-appb-M000003
 It should be noted that the distance X and the distance Z are obtained using the equations (2) and (3) based on the maximum value θmax of the directivity angle θ obtained by the equation (1) and the travel distance P used in the equation (1). Then, the stop position Ps determined by the distance X and the distance Z is a position corresponding to an arbitrary point of the portion overlapping the region B on the curve L3. In the area B, the smaller the distance X and the distance Z that define the stop position Ps, the more difficult it is to enter the vehicle into the parking space PA only by retreating from the stop position Ps. Therefore, the distance X and the distance Z obtained as described above are the minimum value Xmin and the minimum value of the distance Z that allow the vehicle that stops at the stop position Ps in the region B to enter the parking space PA only by reversing, respectively. Zmin.
　停止位置Ｐｓが領域Ｂ内にある場合、その停止位置Ｐｓを定める距離Ｘ及び距離Ｚがそれぞれ「Ｘ≧Ｘｍｉｎ」及び「Ｚ≧Ｚｍｉｎ」という条件を満たしていれば、そのときの指向角度θによっては上記停止位置Ｐｓから車両の後退のみで駐車スペースＰＡに同車両を入庫できる状況となる。詳しくは、そのときの停止位置Ｐｓに応じて上記最大値θｍａｘが設定され、その設定された最大値θｍａｘと現在の指向角度θとが「θ≦θｍａｘ」という関係であれば、上記停止位置Ｐｓから車両の後退のみで駐車スペースＰＡに同車両を入庫可能と判断できる。 When the stop position Ps is in the region B, if the distance X and the distance Z that define the stop position Ps satisfy the conditions of “X ≧ Xmin” and “Z ≧ Zmin”, respectively, depending on the directivity angle θ at that time Is in a situation where the vehicle can be stored in the parking space PA only by reversing the vehicle from the stop position Ps. Specifically, the maximum value θmax is set according to the stop position Ps at that time, and if the set maximum value θmax and the current directivity angle θ are in the relationship “θ ≦ θmax”, the stop position Ps. Therefore, it can be determined that the vehicle can be stored in the parking space PA only by reversing the vehicle.
　このことを考慮して、電子制御装置９は、自動入庫制御の開始指令がなされ、且つ、運転者が車両を領域Ｂ内で停止させたとき、すなわち停止位置Ｐｓが領域Ｂ内にあるときには、上述した「Ｘ≧Ｘｍｉｎ」、「Ｚ≧Ｚｍｉｎ」、及び「θ≦θｍａｘ」という条件を満たしているか否かを判断する。そして、この条件を満たしていれば、領域Ｂにおける現在の停止位置Ｐｓも上記判定領域に含めるよう同判定領域を修正する。これにより、自動入庫制御の開始指令がなされ、且つ、運転者が車両を領域Ｂ内で停止させた場合には、そのときの駐車スペースＰＡに対する同車両の指向角度θに基づき、上記判定領域が可能な限り拡大するよう同判定領域が変化するようになる。なお、電子制御装置９は、自動入庫制御の開始指令がなされ、且つ、運転者が車両を停止させたとき、同車両の停止位置Ｐｓから駐車スペースＰＡに至る経路を求める際に、上記指向角度θに基づく上記判定領域の変化に対応して上記経路を求める。これにより、停止位置Ｐｓから駐車スペースＰＡに至る上記経路として、車両の後退のみで実現される経路（第１の経路）求める機会を多くし、その経路に沿った車両の移動により同車両を駐車スペースに入庫させる機会を多くすることができる。 In consideration of this, when the electronic control device 9 is instructed to start automatic warehousing control and the driver stops the vehicle in the region B, that is, when the stop position Ps is in the region B, It is determined whether or not the above-described conditions of “X ≧ Xmin”, “Z ≧ Zmin”, and “θ ≦ θmax” are satisfied. If this condition is satisfied, the determination region is corrected so that the current stop position Ps in region B is also included in the determination region. Thereby, when the start command of the automatic warehousing control is made and the driver stops the vehicle in the area B, the determination area is determined based on the directivity angle θ of the vehicle with respect to the parking space PA at that time. The determination area changes so as to enlarge as much as possible. When the electronic control device 9 is instructed to start automatic warehousing control and the driver stops the vehicle, the electronic control device 9 determines the directivity angle when determining the route from the stop position Ps of the vehicle to the parking space PA. The route is obtained in response to a change in the determination area based on θ. As a result, as the above-mentioned route from the stop position Ps to the parking space PA, the opportunity to obtain the route (first route) realized only by the backward movement of the vehicle is increased, and the vehicle is parked by the movement of the vehicle along the route. You can increase the number of opportunities to enter the space.
　次に、本実施形態の駐車支援装置の作用について説明する。 Next, the operation of the parking assistance device of this embodiment will be described.
　運転者が車両の運転に不慣れな場合、自動入庫制御の開始指令を行った後に車両を停止させるとき、駐車スペースＰＡに対し車両を後退のみで入庫可能な判定領域内に同車両を運転者が自らの運転によって停止させることができるか否かは不明である。 When the driver is unfamiliar with driving the vehicle, when the vehicle is stopped after issuing a command to start automatic warehousing control, the driver puts the vehicle in a determination area where the vehicle can be admitted only by reversing the parking space PA. Whether it can be stopped by its own driving is unknown.
　そして、運転者が車両を上記判定領域内に停止させることができれば、電子制御装置９による自動入庫制御を通じて、駐車スペースＰＡに対し車両が後退のみで自動的に入庫される。詳しくは、運転者が車両を停止させたときの停止位置Ｐｓ（自動入庫制御の開始時における車両の位置）が上記判定領域内にあれば、その停止位置Ｐｓから同車両の後退のみで駐車スペースＰＡに至る経路として上述した第１の経路が求められる。その後、電子制御装置９の自動入庫制御を通じて車両が上記第１の経路に沿って移動するように制御され、それによって駐車スペースＰＡに対する車両の自動的な入庫が行われる。 If the driver can stop the vehicle within the determination area, the vehicle is automatically stored in the parking space PA only by retreating through the automatic storage control by the electronic control unit 9. Specifically, if the stop position Ps when the driver stops the vehicle (the position of the vehicle at the start of the automatic warehousing control) is within the determination region, the parking space can be obtained only by reversing the vehicle from the stop position Ps. The first route described above is obtained as the route to PA. Thereafter, the vehicle is controlled so as to move along the first route through automatic warehousing control of the electronic control device 9, whereby the vehicle is automatically entered into the parking space PA.
　一方、運転者が車両を上記判定領域内に停止させることができずに同判定領域外に停止させた場合には、電子制御装置９による自動入庫制御を通じて、駐車スペースＰＡに対し車両の前進及び後退により同車両が自動的に入庫される。詳しくは、運転者が車両を停止させたときの停止位置Ｐｓ（自動入庫制御の開始時における車両の位置）が上記判定領域外にあれば、その停止位置Ｐｓから同車両の前進及び後退で駐車スペースＰＡに至る経路として上述した第２の経路もしくは第３の経路が求められる。 On the other hand, when the driver cannot stop the vehicle within the determination region but stops the vehicle outside the determination region, the vehicle moves forward with respect to the parking space PA through automatic warehousing control by the electronic control unit 9. The vehicle is automatically received by reversing. Specifically, if the stop position Ps when the driver stops the vehicle (the position of the vehicle at the start of the automatic warehousing control) is outside the determination region, the vehicle is parked by moving forward and backward from the stop position Ps. The second route or the third route described above is obtained as the route to the space PA.
　例えば、運転者が車両の運転に不慣れで車両を駐車スペースＰＡの正面など上記判定領域の手前で停止させてしまった場合（図５または図６）には、停止位置Ｐｓから最初に一度の車両の前進を行った後に一度の車両の後退で駐車スペースＰＡに対し同車両を入庫可能な経路として第２の経路が求められる。その後、電子制御装置９の自動入庫制御を通じて車両が上記第２の経路に沿って移動するように制御され、それによって駐車スペースＰＡに対する車両の自動的な入庫が行われる。 For example, when the driver is unfamiliar with driving the vehicle and stops the vehicle before the determination area such as the front of the parking space PA (FIG. 5 or FIG. 6), the first vehicle from the stop position Ps. The second route is required as a route that allows the vehicle to enter the parking space PA once the vehicle has moved forward. Thereafter, the vehicle is controlled so as to move along the second route through automatic warehousing control of the electronic control device 9, whereby the vehicle is automatically entered into the parking space PA.
　また、上記判定領域及びその周りに存在する物体により、運転者が車両を上記判定領域まで移動させることができなかった場合（図７または図８）には、車両の前進及び後退を可能な限り少ない回数で停止位置Ｐｓから駐車スペースＰＡへの入庫を実現できる経路として第３の経路が求められる。その後、電子制御装置９の自動入庫制御を通じて車両が上記第３の経路に沿って移動するように制御され、それによって駐車スペースＰＡに対する車両の自動的な入庫が行われる。 In addition, when the driver cannot move the vehicle to the determination region due to the determination region and the objects existing around the determination region (FIG. 7 or FIG. 8), the vehicle is moved forward and backward as much as possible. The third route is required as a route that can realize the entry from the stop position Ps to the parking space PA with a small number of times. Thereafter, the vehicle is controlled so as to move along the third route through automatic warehousing control of the electronic control device 9, whereby the vehicle is automatically entered into the parking space PA.
　従って、不慣れな運転者が自動入庫制御の開始指令を行った後に車両を上記判定領域内に停止させることができなくても、それに起因して自動入庫制御による車両の駐車スペースＰＡに対する自動的な入庫がやり直しされることはない。そして、そのやり直しによって自動的な入庫が繰り返されることもないため、自動的な入庫を繰り返し行うことなく完了させることができる。 Therefore, even if an unfamiliar driver cannot stop the vehicle in the determination area after issuing a command to start automatic warehousing control, the automatic parking garage control system automatically controls the parking space PA of the vehicle. The warehousing is not redone. And since the automatic warehousing is not repeated by the redoing, the automatic warehousing can be completed without repeating.
　一方、熟練した運転者の場合、駐車スペースＰＡに対する上記判定領域が感覚的に分かっており、その判定領域内で車両を停止させることを容易に行える可能性が高い。仮に、このときに駐車支援装置が車両を上記判定領域内に移動させるよう運転者に対し誘導等を行うようにすると、その誘導等に対して熟練した運転者が煩わしさを感じるおそれがある。しかし、このときに駐車支援装置により車両を上記判定領域内に移動させるよう誘導等が行われることはないため、その誘導等に対して熟練した運転者が煩わしさを感じることはない。 On the other hand, in the case of a skilled driver, the determination area for the parking space PA is known sensuously, and there is a high possibility that the vehicle can be easily stopped within the determination area. If the parking assist device guides the driver to move the vehicle into the determination area at this time, the skilled driver may feel annoyance with the guidance. However, since the parking assistance device does not guide the vehicle to move into the determination area at this time, the skilled driver does not feel bothered by the guidance.
　以上により、不慣れな運転者の場合には駐車スペースに対する車両の入庫を繰り返し行うことなく完了させることができ、熟練した運転者の場合には煩わしさを感じることなく駐車スペースに対する車両の入庫を完了させることができる。 As a result, inexperienced drivers can complete the vehicle entry without repetitive entry into the parking space, and skilled drivers complete the entry into the parking space without feeling bothered. Can be made.
　図１０及び図１１は、自動入庫制御を実行するための駐車支援ルーチンを示すフローチャートである。この駐車支援ルーチンは、電子制御装置９を通じて、所定時間毎の時間割り込みにて周期的に実行される。 10 and 11 are flowcharts showing a parking assistance routine for executing automatic warehousing control. This parking assistance routine is periodically executed through the electronic control unit 9 with a time interruption every predetermined time.
　電子制御装置９は、同ルーチンの図１０のステップ１０１～１０４（Ｓ１０１～Ｓ１０４）の処理として、各種のフラグＦ１，Ｆ２，Ｆ３，Ｆ４がそれぞれ初期値「０」であるか否かを判断する。これらフラグＦ１～Ｆ４は、自動入庫制御の実行に関係する各種の状況に応じて初期値「０」から「１」に変更されるものであり、それら各種の状況を識別するために用いられる。そして、フラグＦ１～Ｆ４のすべてが初期値「０」である場合にはＳ１０５に進む。 The electronic control unit 9 determines whether or not each of the various flags F1, F2, F3, and F4 is the initial value “0” as the processing of steps 101 to 104 (S101 to S104) of FIG. . These flags F1 to F4 are changed from the initial value “0” to “1” according to various situations related to the execution of the automatic warehousing control, and are used for identifying these various situations. If all of the flags F1 to F4 are the initial value “0”, the process proceeds to S105.
　電子制御装置９は、Ｓ１０５の処理として運転者による自動入庫制御の開始指令がなされたか否かを判断し、ここで否定判断であれば駐車支援ルーチンを一旦終了する。一方、電子制御装置９は、Ｓ１０５で運転者による自動入庫制御の開始指令がなされた旨判断すると、Ｓ１０６の処理としてフラグＦ４を「１」に設定し、その後に車両を入庫可能な駐車スペースＰＡの有無を判断するためのＳ１０７及びＳ１０８の処理に進む。 The electronic control unit 9 determines whether or not an instruction to start automatic warehousing control has been issued by the driver as the process of S105, and if the determination is negative, the parking support routine is temporarily ended. On the other hand, when the electronic control unit 9 determines in S105 that the driver has issued a command for starting automatic warehousing control, the electronic control unit 9 sets the flag F4 to “1” as the processing in S106, and then parks the parking space PA where the vehicle can be admitted. The process proceeds to S107 and S108 for determining whether or not there is.
　上記フラグＦ４は、運転者による自動入庫制御の開始指令がなされた状態にあるか否かを識別するためのものであり、上記開始指令がなされた後には「１（指令済み）」に設定される。従って、フラグＦ４が初期値「「０（指令なし）」であるか、或いは「１（指令済み）」であるかに基づき、運転者による自動入庫制御の開始指令がなされた状態にあるか否かを識別することができる。なお、フラグＦ４が「１」に設定されると、次回のＳ１０４の処理では否定判定がなされ、Ｓ１０５及びＳ１０６の処理をスキップして直接Ｓ１０７に進む。 The flag F4 is used to identify whether or not the driver has been instructed to start automatic warehousing control, and is set to “1 (commanded)” after the start command is issued. The Therefore, based on whether the flag F4 is the initial value “0 (no command)” or “1 (command completed)”, whether or not the driver is instructed to start automatic warehousing control. Can be identified. If the flag F4 is set to “1”, a negative determination is made in the next process of S104, and the process of S105 and S106 is skipped and the process proceeds directly to S107.
　電子制御装置９は、Ｓ１０７の処理としてメモリに記憶された駐車スペースに関する情報を取り込み、続くＳ１０８の処理として上記取り込んだ情報に基づいて車両を入庫可能な駐車スペースＰＡが存在するか否かを判断する。電子制御装置９は、Ｓ１０８で車両を入庫可能な駐車スペースＰＡが存在しない旨判断した場合には駐車支援ルーチンを一旦終了し、Ｓ１０８で車両を入庫可能な駐車スペースＰＡが存在する旨判断した場合には図１１のＳ１０９以降の処理を実行する。 The electronic control unit 9 captures information regarding the parking space stored in the memory as the process of S107, and determines whether there is a parking space PA where the vehicle can be stored based on the captured information as the subsequent process of S108. To do. When the electronic control unit 9 determines in S108 that there is no parking space PA in which the vehicle can be stored, the parking support routine is temporarily ended, and in S108, it is determined that there is a parking space PA in which the vehicle can be stored. In step S109 and subsequent steps in FIG.
　電子制御装置９は、Ｓ１０９の処理として、上記駐車スペースＰＡに対し車両を後退のみで入庫することが可能な判定領域を設定する。このときに設定される判定領域は、運転者が自動入庫制御による駐車スペースＰＡに対する車両の自動的な入庫を開始しようとして同車両を駐車スペースＰＡに対し入庫しやすいと思う位置に停止させたとき、そのときの車両の指向角度θに関係なく同車両を停止位置Ｐｓから後退のみで駐車スペースＰＡに入庫させることが可能な領域とされる。このときの判定領域としては、例えば図９等に示す領域Ａに設定される。 The electronic control unit 9 sets a determination area in which the vehicle can be stored only by reversing the parking space PA as the process of S109. The determination area set at this time is when the driver tries to start automatic warehousing of the vehicle with respect to the parking space PA by automatic warehousing control, and the vehicle is stopped at a position where it is easy to enter the parking space PA. Regardless of the directivity angle θ of the vehicle at that time, the vehicle can be stored in the parking space PA only by retreating from the stop position Ps. For example, the determination area at this time is set to an area A shown in FIG.
　続いて、電子制御装置９は、図１１のＳ１１０の処理として、上記判定領域内に車両を到達させることが可能であるか否かを判断する。詳しくは、電子制御装置９は、超音波センサ５～８を用いて上記判定領域及びその周りに存在する物体の有無を検知することにより、そうした物体等が原因で車両を上記判定領域に到達させることが可能な状況であるか否かを判断する。そして、車両を上記判定領域に到達させることが可能な状況である場合、Ｓ１１０で肯定判定がなされてＳ１１１に進む。電子制御装置９は、Ｓ１１１の処理として運転者によって車両が停止されたか否かを判断し、ここで否定判断であればフラグＦ３を「１」に設定する。その後、電子制御装置９は駐車支援ルーチンを一旦終了する。 Subsequently, the electronic control unit 9 determines whether or not it is possible to cause the vehicle to reach the determination area as the processing of S110 in FIG. Specifically, the electronic control unit 9 uses the ultrasonic sensors 5 to 8 to detect the presence / absence of the object in the determination area and the surrounding area, thereby causing the vehicle to reach the determination area due to the object or the like. To determine whether this is possible. If the vehicle can reach the determination area, an affirmative determination is made in S110 and the process proceeds to S111. The electronic control unit 9 determines whether or not the vehicle has been stopped by the driver as the process of S111. If the determination is negative, the electronic control unit 9 sets the flag F3 to “1”. Thereafter, the electronic control unit 9 once ends the parking support routine.
　上記フラグＦ３は、運転者による自動入庫制御の開始指令がなされ、且つ、運転者が自動入庫制御を通じて駐車スペースＰＡに対し車両の自動的な入庫を開始しようとして同車両を停止させる前の状態、言い換えれば運転者による車両の停止待ち状態にあるか否かを識別するためのものである。こうした運転者による車両の停止待ち状態にあるときには、フラグＦ３が「１（停車待ち）」に設定される。従って、フラグＦ３が初期値「「０（待ちなし）」であるか、或いは「１（停車待ち）」であるかに基づき、運転者による車両の停止待ち状態にあるか否かを識別することができる。なお、フラグＦ３が「１」に設定されると、次回のＳ１０３（図１０）の処理では否定判定がなされ、Ｓ１０４以降の処理をスキップして直接Ｓ１１１（図１１）に進む。 The flag F3 is a state before the driver is instructed to start automatic warehousing control, and before the driver stops the vehicle in an attempt to start automatic warehousing of the parking space PA through the automatic warehousing control. In other words, it is for identifying whether or not the vehicle is waiting for the vehicle to stop. When the vehicle is waiting for the vehicle to be stopped by such a driver, the flag F3 is set to “1 (waiting for stopping)”. Accordingly, whether the driver is waiting for the vehicle to stop is identified based on whether the flag F3 is the initial value “0 (no waiting)” or “1 (waiting for stopping)”. Can do. When the flag F3 is set to “1”, a negative determination is made in the next process of S103 (FIG. 10), and the process after S104 is skipped and the process proceeds directly to S111 (FIG. 11).
　このＳ１１１の処理で運転者による車両の停止が行われた旨判断されると、電子制御装置９は、Ｓ１１３の処理として上記判定領域の修正を行う。詳しくは、車両の停止位置Ｐｓが指向角度θによっては駐車スペースＰＡに対し車両を後退のみで入庫させることが可能な領域（図９等に示す領域Ｂ）内にある場合、上述した「Ｘ≧Ｘｍｉｎ」、「Ｚ≧Ｚｍｉｎ」、及び「θ≦θｍａｘ」という条件を満たしているか否かを判断する。そして、この条件を満たしていれば、領域Ｂにおける現在の停止位置Ｐｓも上記判定領域に含めるよう同判定領域を修正する。これにより、停止位置Ｐｓが領域Ｂ内にあるときには、そのときの駐車スペースＰＡに対する同車両の指向角度θに基づき、上記判定領域が可能な限り拡大するよう同判定領域が変化する。 If it is determined that the vehicle has been stopped by the driver in the process of S111, the electronic control unit 9 corrects the determination area as a process of S113. Specifically, when the stop position Ps of the vehicle is within an area (area B shown in FIG. 9 or the like) in which the vehicle can only be moved backward with respect to the parking space PA depending on the directivity angle θ, the above-described “X ≧ It is determined whether the conditions of “Xmin”, “Z ≧ Zmin”, and “θ ≦ θmax” are satisfied. If this condition is satisfied, the determination region is corrected so that the current stop position Ps in region B is also included in the determination region. Thereby, when the stop position Ps is in the area B, the determination area changes so that the determination area is expanded as much as possible based on the directivity angle θ of the vehicle with respect to the parking space PA at that time.
　続いて、電子制御装置９は、Ｓ１１４の処理として上記修正後の判定領域内に車両が進入しているか否か、言い換えれば上記判定領域内に停止位置Ｐｓが入っているか否かを判断し、ここで肯定判断であればＳ１１５の処理として停止位置Ｐｓから車両の後退のみで駐車スペースＰＡに至る経路（第１の経路）を求める。その後、電子制御装置９は、Ｓ１１６の処理として、運転者に対しディスプレイパネル３による表示やスピーカ４による音声を通じて、シフトレバー１０の後退指令操作（シフト変更）を行うように指示する。更に、電子制御装置９は、Ｓ１１７の処理としてフラグＦ２を「１」に設定し、その後に駐車支援装置を一旦終了する。 Subsequently, the electronic control unit 9 determines whether or not a vehicle has entered the corrected determination area as a process of S114, in other words, whether or not the stop position Ps is in the determination area. If an affirmative determination is made here, a route (first route) from the stop position Ps to the parking space PA only by the backward movement of the vehicle is obtained as a process of S115. Thereafter, the electronic control unit 9 instructs the driver to perform a reverse command operation (shift change) of the shift lever 10 through a display on the display panel 3 or a sound from the speaker 4 as a process of S116. Furthermore, the electronic control unit 9 sets the flag F2 to “1” as the process of S117, and then temporarily terminates the parking support device.
　上記フラグＦ２は、上述したシフト変更を運転者に対して指示した後、同運転者が実際にシフト変更を実施する前の状態、言い換えれば運転者によるシフト変更の待ち状態にあるか否かを識別するためのものである。こうした運転者によるシフト変更の待ち態にあるときには、フラグＦ２が「１（シフト変更待ち）」に設定される。従って、フラグＦ２が初期値「「０（待ちなし）」であるか、或いは「１（シフト変更待ち）」であるかに基づき、運転者によるシフト変更の待ち状態にあるか否かを識別することができる。なお、フラグＦ２が「１」に設定されると、次回のＳ１０２（図１０）の処理では否定判定がなされ、Ｓ１０３以降の処理をスキップして直接Ｓ１１８（図１１）に進む。 The flag F2 indicates the state before the driver actually performs the shift change after instructing the driver to perform the shift change described above, in other words, whether the driver is waiting for the shift change by the driver. It is for identification. When waiting for a shift change by the driver, the flag F2 is set to "1 (waiting for shift change)". Accordingly, whether the driver is in a state of waiting for a shift change by the driver is identified based on whether the flag F2 is the initial value “0 (no waiting for change)” or “1 (waiting for a change of change)”. be able to. When the flag F2 is set to “1”, a negative determination is made in the next process of S102 (FIG. 10), and the process after S103 is skipped and the process proceeds directly to S118 (FIG. 11).
　このＳ１１８の処理で運転者による上記シフト変更が行われた旨判断されると、電子制御装置９は、Ｓ１１９の処理として自動入庫制御を実行する。詳しくは、停止位置Ｐｓから駐車スペースＰＡに至る経路（この場合は第１の経路）に沿って車両を移動させることにより、駐車スペースＰＡに対し車両を自動的に入庫させる。更に、電子制御装置９は、Ｓ１２０の処理としてフラグＦ１～Ｆ４を初期値「０」に設定し、その後に駐車支援ルーチンを一旦終了する。 If it is determined in the processing of S118 that the shift change has been performed by the driver, the electronic control unit 9 executes automatic warehousing control as processing of S119. Specifically, the vehicle is automatically entered into the parking space PA by moving the vehicle along a route (in this case, the first route) from the stop position Ps to the parking space PA. Further, the electronic control unit 9 sets the flags F1 to F4 to the initial value “0” as the processing of S120, and then ends the parking support routine once.
　また、上記Ｓ１１４の処理において、上記修正後の判定領域内に車両が侵入していない旨判断された場合にはＳ１２１に進む。電子制御装置９は、Ｓ１２１の処理として同判定領域の手前で車両が停止した状態であるか否かを判断し、ここで肯定判断であればＳ１２２の処理として停止位置Ｐｓから車両の前進及び後退により駐車スペースＰＡに至る経路（第２の経路）を求める。この第２の経路は、停止位置Ｐｓから最初に一度の車両の前進を行った後に一度の車両の後退で駐車スペースＰＡに対し同車両を入庫可能な経路である。続いて、電子制御装置９は、Ｓ１１９での自動入庫制御、及び、Ｓ１２０でのフラグＦ１～Ｆ４の「０」への設定を順に行った後、駐車支援ルーチンを一旦終了する。なお、このときのＳ１１９の処理では、第２の経路に沿って車両を移動させることにより、駐車スペースＰＡに対し車両が自動的に入庫される。 In the process of S114, if it is determined that the vehicle does not enter the corrected determination area, the process proceeds to S121. The electronic control unit 9 determines whether or not the vehicle is stopped in front of the determination region as the process of S121. If the determination is affirmative, the electronic control unit 9 advances and reverses the vehicle from the stop position Ps as the process of S122. To obtain the route (second route) to the parking space PA. The second route is a route that allows the vehicle to enter the parking space PA after the vehicle has moved forward once from the stop position Ps and then moved backward once. Subsequently, the electronic control device 9 sequentially performs the automatic warehousing control in S119 and sets the flags F1 to F4 to “0” in S120, and then ends the parking support routine. In the process of S119 at this time, the vehicle is automatically stored in the parking space PA by moving the vehicle along the second route.
　なお、上記Ｓ１１４で上記修正後の判定領域内に車両が進入していない旨判断されると、通常はＳ１２１で肯定判断がなされてＳ１２２以降の処理に進むが、電子制御装置９による処理に何らかのエラーが生じた場合などにはＳ１２１で否定判断がなされる可能性もある。この場合にはＳ１２０に進んでフラグＦ１～Ｆ４を初期値「０」にリセットすることにより、図１０のＳ１０５以降の処理をやり直すことになる。 Note that if it is determined in S114 that the vehicle has not entered the corrected determination area, an affirmative determination is normally made in S121 and the process proceeds to S122 and subsequent steps. If an error occurs, a negative determination may be made in S121. In this case, the process proceeds to S120, and the flags F1 to F4 are reset to the initial value “0”, so that the processes after S105 in FIG.
　一方、図１１のＳ１１０の処理において、上記判定領域及びその周りに存在する物体等が原因で、車両を上記判定領域に到達させることが不可能な状況である旨判断されると、Ｓ１２３以降の処理に進む。電子制御装置９は、Ｓ１２３の処理として、運転者によって車両が停止されたか否かを判断し、ここで否定判断であればフラグＦ１を「１」に設定する。その後、電子制御装置９は駐車支援ルーチンを一旦終了する。 On the other hand, if it is determined in the processing of S110 of FIG. 11 that the vehicle cannot reach the determination area due to the determination area and objects around the determination area, S123 and the subsequent steps Proceed to processing. As a process of S123, the electronic control unit 9 determines whether or not the vehicle is stopped by the driver. If the determination is negative, the electronic control unit 9 sets the flag F1 to “1”. Thereafter, the electronic control unit 9 once ends the parking support routine.
　上記フラグＦ１は、上記フラグＦ３と同様に、運転者による自動入庫制御の開始指令がなされ、且つ、運転者が自動入庫制御を通じて駐車スペースＰＡに対し車両の自動的な入庫を開始しようとして同車両を停止させる前の状態、言い換えれば運転者による車両の停止待ち状態にあるか否かを識別するためのものである。こうした運転者による車両の停止待ち状態にあるときには、フラグＦ１が「１（停車待ち）」に設定される。従って、フラグＦ１が初期値「「０（待ちなし）」であるか、或いは「１（停車待ち）」であるかに基づき、運転者による車両の停止待ち状態にあるか否かを識別することができる。なお、フラグＦ１が「１」に設定されると、次回のＳ１０１（図１０）の処理では否定判定がなされ、Ｓ１０２以降の処理をスキップして直接Ｓ１２３（図１１）に進む。 The flag F1 is the same as the flag F3, the driver is instructed to start automatic warehousing control, and the driver tries to start the automatic warehousing of the vehicle in the parking space PA through the automatic warehousing control. In other words, it is for identifying whether or not the vehicle is waiting to be stopped by the driver. When the vehicle is waiting for the vehicle to stop by such a driver, the flag F1 is set to “1 (waiting for stopping)”. Therefore, it is identified whether the driver is waiting for the vehicle to stop based on whether the flag F1 is the initial value “0 (no waiting)” or “1 (waiting for stopping)”. Can do. If the flag F1 is set to “1”, a negative determination is made in the next process of S101 (FIG. 10), and the process after S102 is skipped and the process proceeds directly to S123 (FIG. 11).
　このＳ１２３の処理で運転者による車両の停止が行われた旨判断されると、電子制御装置９は、Ｓ１２５の処理として停止位置Ｐｓから車両の前進及び後退により駐車スペースＰＡに至る経路（第３の経路）を求める。この第３の経路は、車両の前進及び後退を可能な限り少ない回数で停止位置Ｐｓから駐車スペースＰＡへの入庫を実現できる経路である。続いて、電子制御装置９は、Ｓ１２６の処理として、運転者に対し第３の経路に沿って移動させることにより車両を駐車スペースＰＡに対し自動的に入庫させる旨の通知を、ディスプレイパネル３による表示やスピーカ４による音声を通じて実施する。その後、電子制御装置９は、Ｓ１１９での自動入庫制御、及び、Ｓ１２０でのフラグＦ１～Ｆ４の「０」への設定を順に行った後、駐車支援ルーチンを一旦終了する。なお、このときのＳ１１９の処理では、第３の経路に沿って車両を移動させることにより、駐車スペースＰＡに対し車両が自動的に入庫される。 If it is determined that the vehicle has been stopped by the driver in the process of S123, the electronic control unit 9 performs a route (third process) from the stop position Ps to the parking space PA by forward and backward movement of the vehicle as a process of S125. Path). This third route is a route that allows the vehicle to enter the parking space PA from the stop position Ps with the smallest possible number of forward and backward movements of the vehicle. Subsequently, the electronic control unit 9 uses the display panel 3 to notify the driver that the vehicle is automatically stored in the parking space PA by moving the driver along the third route as a process of S126. This is implemented through display and sound from the speaker 4. Thereafter, the electronic control device 9 sequentially performs the automatic warehousing control in S119 and the setting of the flags F1 to F4 to “0” in S120, and then ends the parking assistance routine. In the process of S119 at this time, the vehicle is automatically stored in the parking space PA by moving the vehicle along the third route.
　以上詳述した本実施形態によれば、以下に示す効果が得られるようになる。 According to the embodiment described above in detail, the following effects can be obtained.
　（１）駐車スペースＰＡの近傍での車両の走行中、運転者による自動入庫制御の開始指令がなされると、運転者は自動入庫制御による駐車スペースＰＡに対する車両の自動的な入庫を開始しようとして同車両を駐車スペースＰＡに対し入庫しやすいと思う位置に停止させる。電子制御装置９は、上記開始指令がなされ、且つ、運転者により車両が停止されたとき、自動入庫制御による駐車スペースＰＡに対する車両の自動的な入庫を開始すべきタイミングであると認識して上記自動的な入庫を行う。すなわち、電子制御装置９（は、車両が停止したときの駐車スペースＰＡに対する同車両の相対位置（停止位置Ｐｓ）に応じて上記自動的な入庫を行う際の車両の経路を求め、その経路に沿って車両を移動させることにより駐車スペースＰＡに対する車両の自動的な入庫を行う。 (1) While the vehicle is traveling in the vicinity of the parking space PA, when the driver gives an instruction to start automatic warehousing control, the driver tries to start automatic warehousing of the vehicle with respect to the parking space PA by automatic warehousing control. The vehicle is stopped at a position where it is easy to enter the parking space PA. The electronic control unit 9 recognizes that when the start command is given and the vehicle is stopped by the driver, it is the timing to start the automatic storage of the vehicle with respect to the parking space PA by the automatic storage control. Perform automatic warehousing. That is, the electronic control device 9 (determines the route of the vehicle when performing the automatic warehousing according to the relative position (stop position Ps) of the vehicle with respect to the parking space PA when the vehicle is stopped. The vehicle is automatically moved into the parking space PA by moving the vehicle along.
　ただし、不慣れな運転者の場合、自動入庫制御の開始指令を行った後に車両を停止させる際、駐車スペースＰＡに対し車両を後退のみで入庫可能な判定領域内に同車両を停止させることができるとは限らない。運転者が車両を上記判定領域内に停止させることができなかった場合、電子制御装置９による自動入庫制御を通じて、次のように駐車スペースＰＡに対する車両の自動的な入庫が行われる。すなわち、運転者が車両を停止させたときの停止位置Ｐｓから同車両の前進及び後退により駐車スペースＰＡに至る経路（第２の経路もしくは第３の経路）が求められ、その経路に沿って車両を移動させることにより駐車スペースＰＡに対する車両の自動的な入庫が行われる。従って、不慣れな運転者が自動入庫制御の開始指令を行った後に車両を上記判定領域内に停止させることができなくても、それに起因して自動入庫制御による車両の駐車スペースＰＡに対する自動的な入庫がやり直しされることはない。そして、そのやり直しによって自動的な入庫が繰り返されることもないため、自動的な入庫を繰り返し行うことなく完了させることができる。 However, in the case of an unfamiliar driver, when the vehicle is stopped after issuing a command to start automatic warehousing control, the vehicle can be stopped within a determination area where the vehicle can be admitted only by reversing the parking space PA. Not necessarily. When the driver cannot stop the vehicle within the determination area, the vehicle is automatically stored in the parking space PA through the automatic storage control by the electronic control unit 9 as follows. That is, a route (second route or third route) from the stop position Ps when the driver stops the vehicle to the parking space PA due to forward and backward movement of the vehicle is obtained, and the vehicle along the route is obtained. By moving the vehicle, the vehicle is automatically stored in the parking space PA. Therefore, even if an unfamiliar driver cannot stop the vehicle in the determination area after issuing a command to start automatic warehousing control, the automatic parking garage control system automatically controls the parking space PA of the vehicle. The warehousing is not redone. And since the automatic warehousing is not repeated by the redoing, the automatic warehousing can be completed without repeating.
　一方、熟練した運転者の場合、自動入庫制御の開始指令を行った後、誘導等を受けることなく車両を上記判定領域内にて停止させることができる可能性が高い。仮に、このときに駐車支援装置が車両を上記判定領域内に移動させるよう運転者に対し誘導等を行うようにすると、その誘導等に対して熟練した運転者が煩わしさを感じるおそれがある。しかし、このときに駐車支援装置により車両を上記判定領域内に移動させるよう誘導等が行われることはないため、その誘導等に対して熟練した運転者が煩わしさを感じることはない。そして、運転者によって車両が上記判定領域内に停止された場合には、電子制御装置９による自動入庫制御を通じて、次のように駐車スペースＰＡに対する車両の自動的な入庫が行われる。すなわち、運転者が車両を停止させたときの停止位置Ｐｓから同車両の後退のみで駐車スペースＰＡに至る経路（第１の経路）が求められ、その経路に沿って車両を移動させることにより駐車スペースＰＡに対する車両の自動的な入庫が行われる。 On the other hand, in the case of a skilled driver, there is a high possibility that the vehicle can be stopped within the determination area without receiving guidance or the like after issuing an automatic warehousing control start command. If the parking assist device guides the driver to move the vehicle into the determination area at this time, the skilled driver may feel annoyance with the guidance. However, since the parking assistance device does not guide the vehicle to move into the determination area at this time, the skilled driver does not feel bothered by the guidance. When the vehicle is stopped within the determination area by the driver, the vehicle is automatically stored in the parking space PA through the automatic storage control by the electronic control device 9 as follows. That is, a route (first route) from the stop position Ps when the driver stops the vehicle to the parking space PA only by reversing the vehicle is obtained, and parking is performed by moving the vehicle along the route. The vehicle is automatically stored in the space PA.
　以上のように自動入庫制御を実行することにより、不慣れな運転者の場合には駐車スペースに対する車両の入庫を繰り返し行うことなく完了させることができ、熟練した運転者の場合には煩わしさを感じることなく駐車スペースに対する車両の入庫を完了させることができる。 By executing the automatic warehousing control as described above, it can be completed without repeating the warehousing of the vehicle with respect to the parking space in the case of an unfamiliar driver, and it feels troublesome for a skilled driver. The warehousing of the vehicle with respect to the parking space can be completed without any problems.
　（２）上記判定領域には、領域Ａだけでなく、同領域Ａに隣接する領域Ｂの一部も含まれる。なお、上記領域Ａは、停止位置Ｐｓにある車両の指向角度θに関係なく、その車両を後退のみで駐車スペースＰＡに対し入庫させることができる領域である。また、上記領域Ｂは、指向角度θによっては停止位置Ｐｓにある車両を後退のみで駐車スペースＰＡに対し入庫できる領域である。この領域Ｂにおける車両を後退のみで駐車スペースＰＡに対し入庫できる部分が上記判定領域に含められることにより、同判定領域が可能な限り拡大される。ちなみに、このように可能な限り拡大される判定領域は、上記指向角度θに応じて変化することとなる。そして、停止位置Ｐｓから駐車スペースＰＡに至る経路を上記指向角度θに基づく判定領域の変化に対応して求めることにより、同経路として第１の経路が求められる機会を多くし、その第１の経路に沿った車両の後退のみでの移動により同車両を駐車スペースＰＡに自動的に入庫させる機会を多くすることができる。 (2) The determination area includes not only the area A but also a part of the area B adjacent to the area A. The area A is an area where the vehicle can be moved into the parking space PA only by retreating regardless of the directivity angle θ of the vehicle at the stop position Ps. Further, the region B is a region where the vehicle at the stop position Ps can be stored in the parking space PA only by retreating depending on the directivity angle θ. The determination area is expanded as much as possible by including in the determination area a portion in which the vehicle in the area B can enter the parking space PA only by retreating. Incidentally, the determination area that is enlarged as much as possible in this way changes in accordance with the directivity angle θ. And the opportunity from which the 1st path | route is calculated | required as the same path | route is increased by calculating | requiring the path | route from the stop position Ps to the parking space PA corresponding to the change of the determination area | region based on the said directivity angle (theta). Opportunities to automatically enter the vehicle into the parking space PA by moving the vehicle along the route only by retreating can be increased.
　（３）運転者による自動入庫制御の開始指令がなされ、且つ、運転者が車両を駐車スペースＰＡに対し後退のみで入庫可能な判定領域外で停止させた場合には、車両の停止位置Ｐｓから駐車スペースＰＡに至る経路として、同車両の前進及び後退で停止位置Ｐｓから駐車スペースＰＡに至る経路（第２の経路）が求められる。この第２の経路は、車両を一度の前進により停止位置Ｐｓから上記判定領域内に侵入させ、更に同判定領域内から一度の後退により駐車スペースＰＡに至る経路である。従って、この場合に自動入庫制御を通じて車両を停止位置Ｐｓから駐車スペースＰＡに対し自動的に入庫させる際の経路を、可能な限り短くすることができる。 (3) When the driver gives an instruction to start automatic warehousing control and the driver stops the vehicle outside the determination area where the vehicle can be admitted only by retreating to the parking space PA, from the stop position Ps of the vehicle. As a route to the parking space PA, a route (second route) from the stop position Ps to the parking space PA by the forward and backward movement of the vehicle is obtained. The second route is a route that allows the vehicle to enter the determination area from the stop position Ps by a single forward movement, and further reaches the parking space PA by a single backward movement from within the determination area. Therefore, in this case, the route for automatically entering the vehicle from the stop position Ps to the parking space PA through the automatic entry control can be made as short as possible.
　（４）運転者による自動入庫制御の開始指令がなされた後、運転者が車両を上記判定領域外で停止させる原因としては、同判定領域及びその周りにおける壁等の物体（障害物）の存在が挙げられる。この場合、上記物体の存在が判定領域内への車両の移動の障害となり、それによって運転者が車両を上記判定領域外にしか停止できない状況が生じる。こうした状況に対処すべく、電子制御装置９は、自動入庫制御の開始指令がなされた後、上記判定領域及びその周りに存在する物体の有無に基づいて同判定領域内に車両を移動可能であるか否かを判断し、その判断結果に基づいて車両の前進及び後退により同車両を停止位置Ｐｓから駐車スペースＰＡに至らせる経路（第３の経路）を求める。この第３の経路は、同車両の停止位置Ｐｓにある車両を駐車スペースＰＡに対し入庫させる際、車両の前進及び後退を可能な限り少ない回数で上記入庫を実現できる経路である。こうした第３の経路に沿って車両を移動させることにより、障害物の存在等により運転者が車両を判定領域に移動させることができなかったとしても、可能な限り短い経路で車両を駐車スペースＰＡに対し入庫させることができる。 (4) After the driver gives an instruction to start automatic warehousing control, the cause of the driver stopping the vehicle outside the determination area is the presence of an object (obstacle) such as a wall around the determination area. Is mentioned. In this case, the presence of the object becomes an obstacle to the movement of the vehicle into the determination region, thereby causing a situation where the driver can stop the vehicle only outside the determination region. In order to cope with such a situation, the electronic control device 9 can move the vehicle into the determination area based on the determination area and the presence / absence of an object present around it after the automatic warehousing control start command is given. Based on the determination result, a route (third route) that leads the vehicle from the stop position Ps to the parking space PA by the forward and backward movement of the vehicle is obtained. This third route is a route that can realize the above-mentioned warehousing with as few times as possible when the vehicle at the stop position Ps of the vehicle is admitted into the parking space PA. By moving the vehicle along the third route, even if the driver cannot move the vehicle to the determination area due to the presence of an obstacle, the vehicle is parked on the parking space PA as short as possible. Can be stocked.
　なお、上記実施形態は、例えば以下のように変更することもできる。 In addition, the said embodiment can also be changed as follows, for example.
　・停止位置Ｐｓにある車両を前進及び後退により駐車スペースＰＡに至らせる経路として第２の経路を用いる際、その第２の経路の代わりに同第２の経路よりも車両を前進させる回数が多い経路を用いるようにしたり、第２の経路よりも車両を後退させる回数が多い経路を用いるようにしたりしてもよい。 When the second route is used as a route for bringing the vehicle at the stop position Ps to the parking space PA by moving forward and backward, the vehicle is advanced more frequently than the second route instead of the second route. A route may be used, or a route that has a greater number of times of moving the vehicle backward than the second route may be used.
　・停止位置Ｐｓにある車両を前進及び後退により駐車スペースＰＡに至らせる経路として第３の経路を用いる際、その第３の経路の代わりに同第３の経路よりも車両を前進させる回数が多い経路を用いたり、同第３の経路よりも車両を後退させる回数が多い経路を用いるようにしたりしてもよい。 When the third route is used as a route for bringing the vehicle at the stop position Ps to the parking space PA by moving forward and backward, the vehicle is advanced more frequently than the third route instead of the third route. A route may be used, or a route having a greater number of times of moving the vehicle backward than the third route may be used.
　・運転者が車両を停止させたときの停止位置Ｐｓについては、必ずしも同車両の後輪２０間の中心Ｃに設定する必要はなく、車両における上記中心Ｃ以外の部分を停止位置Ｐｓに設定してもよい。この場合、車両の停止位置Ｐｓから駐車スペースＰＡに至る経路を求める際には、上述した停止位置Ｐｓの設定変更に合わせて、同駐車スペースＰＡに対する上記車両の入庫を完了したと仮定したときの同車両における上記設定変更後の停止位置Ｐｓに対応する部分を駐車スペースＰＡの位置として設定する。 The stop position Ps when the driver stops the vehicle does not necessarily need to be set at the center C between the rear wheels 20 of the vehicle, and a portion other than the center C in the vehicle is set as the stop position Ps. May be. In this case, when obtaining the route from the stop position Ps of the vehicle to the parking space PA, it is assumed that the entry of the vehicle into the parking space PA has been completed in accordance with the setting change of the stop position Ps described above. A portion corresponding to the stop position Ps after the setting change in the vehicle is set as the position of the parking space PA.
　・上記判定領域については、領域Ａだけを含み、領域Ｂについては含まないように設定してもよい。 The determination area may be set so as to include only the area A and not the area B.
　・駐車スペースの探索に超音波センサを用いたが、ステレオカメラや単眼カメラなどのカメラを用いてもよい。 ・ The ultrasonic sensor is used for searching the parking space, but a camera such as a stereo camera or a monocular camera may be used.
　１…操舵輪、２…ステアリング装置、２ａ…モータ、３…ディスプレイパネル、４…スピーカ、５～８…超音波センサ、９…電子制御装置、１０…シフトレバー、１１…シフトポジションセンサ、１２…アクセルペダル、１３…アクセルポジションセンサ、１４…ブレーキペダル、１５…ブレーキスイッチ、１６…車輪速センサ、１７…角度センサ、１８…温度センサ、１９…ヨーレートセンサ、２０…後輪、２１…原動機、２２…ギヤ機構、２３…ブレーキ装置。 DESCRIPTION OF SYMBOLS 1 ... Steering wheel, 2 ... Steering device, 2a ... Motor, 3 ... Display panel, 4 ... Speaker, 5-8 ... Ultrasonic sensor, 9 ... Electronic control unit, 10 ... Shift lever, 11 ... Shift position sensor, 12 ... Accelerator pedal, 13 ... accelerator position sensor, 14 ... brake pedal, 15 ... brake switch, 16 ... wheel speed sensor, 17 ... angle sensor, 18 ... temperature sensor, 19 ... yaw rate sensor, 20 ... rear wheel, 21 ... prime mover, 22 ... Gear mechanism, 23 ... Brake device.

Claims (7)

  1. 　駐車スペースに対し車両を自動的に入庫させる自動入庫制御を実行する制御部を備える駐車支援装置において、
    　前記制御部は、
    　前記自動入庫制御の開始時における車両の位置が同車両を前記駐車スペースに対し後退で入庫可能な判定領域内にあるときには、その車両の位置から同車両の後退で前記駐車スペースに至る経路を求め、その経路に沿って車両を前記駐車スペースにまで自動的に移動させるように前記自動入庫制御を実行する一方、
    　前記自動入庫制御の開始時における車両の位置が前記判定領域外にあるときには、その車両の位置から同車両の前進及び後退で前記駐車スペースに至る経路を求め、その経路に沿って車両を前記駐車スペースにまで自動的に移動させるように前記自動入庫制御を実行する
    　ように構成されている、駐車支援装置。     In a parking support apparatus including a control unit that executes automatic warehousing control for automatically merging a vehicle with respect to a parking space,
    The controller is
    When the position of the vehicle at the start of the automatic warehousing control is within a determination area where the vehicle can be moved backward with respect to the parking space, a route from the vehicle position to the parking space when the vehicle moves backward is obtained. While performing the automatic warehousing control to automatically move the vehicle along the path to the parking space,
    When the position of the vehicle at the start of the automatic warehousing control is outside the determination region, a route from the vehicle position to the parking space by forward and backward movement of the vehicle is obtained, and the vehicle is parked along the route. A parking assistance device configured to execute the automatic warehousing control so as to automatically move to a space.
  2. 　前記制御部は、車両の運転者による前記自動入庫制御の開始指令がなされ、且つ、運転者が車両を停止させたとき、前記自動入庫制御を開始するように構成されている
    　請求項１記載の駐車支援装置。     The said control part is comprised so that the start instruction | command of the said automatic warehousing control by the driver | operator of a vehicle may be made, and when the driver | operator stops a vehicle, the said automatic warehousing control is started. Parking assistance device.
  3. 　前記制御は、前記自動入庫制御の開始時における前記駐車スペースに対する同車両の指向角度に基づいて前記判定領域を変化させ、前記自動入庫制御の開始時における車両の位置から前記駐車スペースに至る経路を求める際、前記指向角度に基づく前記判定領域の変化に対応して前記経路を求めるように構成されている
    　請求項１又は２記載の駐車支援装置。     The control changes the determination area based on a directivity angle of the vehicle with respect to the parking space at the start of the automatic warehousing control, and a route from the position of the vehicle to the parking space at the start of the automatic warehousing control. The parking assistance device according to claim 1 or 2, wherein when obtaining, the route is obtained in response to a change in the determination area based on the directivity angle.
  4. 　前記制御部は、前記自動入庫制御の開始時における車両の位置を同車両の後輪間の中心に設定し、その車両の位置から前記駐車スペースに至る経路を求める際には、同駐車スペースに対する前記車両の入庫を完了したと仮定したときの同車両の後輪間の中心を前記駐車スペースの位置として設定するように構成されている
    　請求項１～３のいずれか一項に記載の駐車支援装置。     The controller sets the position of the vehicle at the start of the automatic warehousing control at the center between the rear wheels of the vehicle, and determines the route from the position of the vehicle to the parking space. The parking support according to any one of claims 1 to 3, wherein the parking space is configured such that a center between rear wheels of the vehicle when it is assumed that the warehousing of the vehicle is completed is set as the position of the parking space. apparatus.
  5. 　前記制御部は、前記自動入庫制御の開始時における車両の位置が前記判定領域外にあるときには、最初に一度の車両の前進を行った後に一度の車両の後退で前記駐車スペースに対し同車両を入庫可能な経路を求めるように構成されている
    　請求項１～４のいずれか一項に記載の駐車支援装置。     When the position of the vehicle at the start of the automatic warehousing control is outside the determination area, the control unit first moves the vehicle forward once and then moves the vehicle against the parking space by reversing the vehicle once. The parking assistance device according to any one of claims 1 to 4, wherein the parking assistance device is configured to obtain a route that can be entered.
  6. 　前記制御部は、前記判定領域及びその周りに存在する物体の有無に基づいて同判定領域内に車両を移動可能であるか否かを判断し、同判定領域内への車両の移動が不可能であるときには、前記自動入庫制御の開始時における車両の位置から車両の前進及び後退を可能な限り少ない回数で車両の前記駐車スペースに対する入庫を実現できる経路を求めるように構成されている
    　請求項１～５のいずれか一項に記載の駐車支援装置。     The control unit determines whether or not the vehicle can move within the determination area based on the determination area and the presence / absence of an object existing around the determination area, and the vehicle cannot move within the determination area. The vehicle is configured so as to obtain a route that allows the vehicle to enter the parking space with the smallest possible number of forward and backward movements from the position of the vehicle at the start of the automatic warehousing control. The parking assist device according to any one of 1 to 5.
  7. 　駐車スペースに対し車両を自動的に入庫させる自動入庫制御を実行する駐車支援方法において、
    　前記自動入庫制御の開始時における車両の位置が同車両を前記駐車スペースに対し後退で入庫可能な判定領域内にあるときには、その車両の位置から同車両の後退で前記駐車スペースに至る経路を求めること、
    　前記自動入庫制御の開始時における車両の位置が前記判定領域外にあるときには、その車両の位置から同車両の前進及び後退で前記駐車スペースに至る経路を求めること、及び
    　前記求められた経路に沿って車両を前記駐車スペースにまで自動的に移動させるように前記自動入庫制御を実行すること
    　を備える駐車支援方法。     In a parking support method for executing automatic warehousing control for automatically merging a vehicle into a parking space,
    When the position of the vehicle at the start of the automatic warehousing control is within a determination area where the vehicle can be moved backward with respect to the parking space, a route from the vehicle position to the parking space when the vehicle is moved backward is obtained. thing,
    When the position of the vehicle at the start of the automatic warehousing control is outside the determination region, a path from the position of the vehicle to the parking space by the forward and backward movement of the vehicle is determined, and along the determined path And performing the automatic warehousing control so as to automatically move the vehicle to the parking space.
PCT/JP2013/064275 2013-05-22 2013-05-22 Parking assist device, and parking assist method WO2014188548A1 (en)

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EP4026743A4 (en) * 2019-09-06 2022-10-12 NISSAN MOTOR Co., Ltd. Parking assistance method and parking assistance device

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