WO2017068698A1 - 駐車支援方法及び駐車支援装置 - Google Patents
駐車支援方法及び駐車支援装置 Download PDFInfo
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- WO2017068698A1 WO2017068698A1 PCT/JP2015/079892 JP2015079892W WO2017068698A1 WO 2017068698 A1 WO2017068698 A1 WO 2017068698A1 JP 2015079892 W JP2015079892 W JP 2015079892W WO 2017068698 A1 WO2017068698 A1 WO 2017068698A1
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Definitions
- the present invention relates to a parking assistance method and a parking assistance device.
- Patent Document 1 a technology for detecting a space where the own vehicle can be parked and indicating the parking space where the vehicle can be parked to the user according to the priority obtained using the own vehicle and the driver's specific information registered in advance.
- Patent Document 1 does not discuss anything about the processing method when a parking space is detected as a space that can be parked. There was a problem that it could not be used.
- the problem to be solved by the present invention is to make it possible to use the parking space when it is actually possible to park even if it is not detected as a parking space.
- the present invention detects a first parking space that satisfies a predefined parking condition, and when information for selecting a second parking space other than the first parking space is input, the first parking space is again displayed. By detecting this, the above-mentioned problem is solved.
- the first parking space detection process is performed again. Therefore, even if it is not detected as a parking space, the parking space can be used when parking is actually possible.
- FIG. 1 is a block diagram showing an example of a parking support system according to the present embodiment according to the present invention.
- FIG. 2 is a flowchart illustrating an example of a control procedure of the parking assistance system according to the present embodiment.
- FIG. 3 is a diagram illustrating an example of an installation position of the in-vehicle camera of the present embodiment.
- FIG. 4A is a first diagram for explaining an example of the parking assistance process of the present embodiment.
- FIG. 4B is a second diagram for explaining an example of the parking assistance process of the present embodiment.
- FIG. 4C is a third diagram for explaining an example of the parking assistance process of the present embodiment.
- FIG. 4D is a fourth diagram for explaining an example of the parking assistance process of the present embodiment.
- FIG. 4A is a first diagram for explaining an example of the parking assistance process of the present embodiment.
- FIG. 4B is a second diagram for explaining an example of the parking assistance process of the present embodiment.
- FIG. 4C is a third diagram for explaining an
- FIG. 5 is a graph showing the relationship between the vehicle speed (V [km / s]) and the gaze point distance (Y [m]).
- FIGS. 6A, 6 ⁇ / b> B, and 6 ⁇ / b> C are diagrams illustrating examples of parking patterns to which the parking support process of the present embodiment is applied.
- FIG. 7 is a diagram illustrating an example of the parking support information presented in the parking support process of the present embodiment.
- FIG. 8 is a diagram illustrating a first example of a control method for re-detection processing of a parking space.
- FIG. 9 is a diagram illustrating a second example of the control method of the parking space re-detection process.
- FIG. 10 is a diagram illustrating a third example of the control method of the parking space re-detection process.
- FIG. 11 is a diagram illustrating a fourth example of the control method of the parking space re-detection process.
- FIGS. 12A, 12 ⁇ / b> B, and 12 ⁇ / b> C are first diagrams illustrating an example of the operation screen presented during the re-detection process of the parking space.
- FIGS. 13A, 13 ⁇ / b> B, and 13 ⁇ / b> C are second diagrams illustrating an example of the operation screen presented during the re-detection process of the parking space.
- the parking assistance device may be applied to a portable terminal device (a device such as a smartphone or a PDA) that can exchange information with the in-vehicle device.
- the parking support information display method according to the present invention can be used in a parking support apparatus.
- the parking assistance information according to the present invention is displayed using the display 21.
- the parking assistance apparatus 100 of the present embodiment may be a semi-automatic type in which a steering operation is automatically performed and an accelerator / brake operation is performed by a driver.
- the parking assist device 100 may be an automatic control type in which a steering operation and an accelerator / brake operation are automatically performed. Moreover, the parking assistance apparatus 100 of this embodiment may be a remote control type in which a vehicle is parked in a predetermined parking space by controlling the movement of the vehicle from the outside without boarding the vehicle.
- FIG. 1 is a block diagram of a parking support system 1000 having a parking support apparatus 100 according to an embodiment of the present invention.
- the parking support system 1000 according to the present embodiment supports an operation of moving (parking) the host vehicle to a parking space.
- the parking support system 1000 of this embodiment includes a camera 1a to 1d, an image processing device 2, a distance measuring device 3, an input device 5, a parking support device 100, a vehicle controller 30, a drive system 40, a steering system.
- An angle sensor 50 and a vehicle speed sensor 60 are provided.
- the parking assistance device 100 of this embodiment includes a control device 10 and an output device 20.
- the output device 20 includes a display 21.
- Each of these components is connected by a CAN (Controller Area Network) or other in-vehicle LAN in order to exchange information with each other.
- the output device 20 transmits parking support information to the driver.
- the display 21 notifies the driver of parking assistance information according to the content of the text, the content of the display image, and the form of the display image.
- the display 21 of the present embodiment is a touch panel type display having an input function and an output function.
- the control device 10 of the parking assistance apparatus 100 includes a ROM 12 that stores a parking assistance program, and an operation circuit that functions as the parking assistance apparatus 100 according to the present embodiment by executing the program stored in the ROM 12. And a RAM 13 that functions as an accessible storage device.
- the parking assistance program of the present embodiment presents parking assistance information including information on parking spaces that can be parked on the display 21 and executes a control procedure that assists the operation of parking the host vehicle V in the parking space set by the driver. It is a program to let you.
- a parking space to be parked may be automatically set.
- the parking assist device 100 according to the present embodiment manually operates some of the automatic parking system, steering, accelerator, and brake that automatically operates the steering, accelerator, and brake, and performs other operations automatically. It can also be applied to a semi-automatic parking system.
- the present invention can be applied to a system that supports parking by presenting a route to the parking space and guiding the host vehicle to the parking space.
- the control device 10 of the parking assist device 100 has a function of executing an information acquisition process, a parking space detection process, a recommended parking space detection process, a display control process, and a parking control process.
- Each process described above is executed by cooperation of software for realizing each process and the hardware described above.
- FIG. 2 is a flowchart showing a control procedure of parking support processing executed by the parking support system 1000 according to the present embodiment.
- the trigger for starting the parking support process is not particularly limited, and the start of the parking support apparatus 100 may be triggered.
- the parking assistance apparatus 100 of this embodiment is provided with the function to move the own vehicle V to a parking space automatically.
- the input device 5 including a switch that is turned on only while being pressed, such as a deadman switch, is used.
- the parking assist device 100 is configured such that automatic driving of the host vehicle V is executed when the deadman switch 51 is pressed, and automatic driving of the host vehicle V is stopped when the pressing of the deadman switch 51 is released.
- the input device 5 of the present embodiment can also be arranged as a vehicle-mounted device in the vehicle interior, and can also be configured as a portable device that can be taken out of the vehicle compartment so that the host vehicle V can be controlled from the outside of the vehicle.
- the input device 5 includes a communication device and can exchange information with the parking assistance device 100.
- the input device 5 communicates with the parking assistance device 100 using a signal including a unique identification symbol.
- the parking assistance device 100 can know the position of the input device 5, that is, the position of the driver carrying the input device 5 from the position information to which the radio wave intensity and identification information of the input device 5 are attached.
- the control device 10 of the parking assistance device 100 acquires captured images captured by the cameras 1a to 1d attached to a plurality of locations of the host vehicle V.
- the cameras 1a to 1d take images of the boundaries of the parking space around the host vehicle V and the objects existing around the parking space.
- the cameras 1a to 1d are CCD cameras, infrared cameras, and other imaging devices.
- the distance measuring device 3 may be provided at the same position as the cameras 1a to 1d or at different positions.
- a radar device such as a millimeter wave radar, a laser radar, an ultrasonic radar, or a sonar can be used.
- the distance measuring device 3 detects the presence / absence of the object, the position of the object, and the distance to the object based on the received signal of the radar device.
- Objects include obstacles around the vehicle, pedestrians, other vehicles, and the like. This received signal is used to determine whether the parking space is vacant (whether it is parked). Obstacles may be detected using a motion stereo technique using the cameras 1a to 1d.
- FIG. 3 is a diagram showing an arrangement example of the cameras 1a to 1d mounted on the host vehicle V.
- the camera 1 a is disposed on the front grill portion of the host vehicle V
- the camera 1 d is disposed near the rear bumper
- the cameras 1 b and 1 c are disposed below the left and right door mirrors.
- the cameras 1a to 1d cameras having wide-angle lenses with a large viewing angle can be used.
- step 101 the control device 10 acquires distance measurement signals by the distance measurement devices 3 attached to a plurality of locations of the host vehicle V.
- the control device 10 of the parking assistance device 100 causes the image processing device 2 to generate an overhead image.
- the image processing apparatus 2 displays the surrounding state including the host vehicle V and a parking space in which the host vehicle V is parked as a virtual viewpoint P above the host vehicle V (see FIG. 3).
- a bird's-eye view image viewed from the above is generated.
- the image processing performed by the image processing apparatus 2 is, for example, “Masayasu Suzuki, Keigo Chino, Teruhisa Takano, Development of a bird's-eye view system, Preprints of Academic Lecture Meeting of the Automotive Engineers of Japan, 116-07 (2007-10), 17 22. "etc. can be used.
- An example of the generated overhead image 21a is shown in FIG. This figure is a display example that simultaneously shows a bird's-eye view image (top view) 21a around the host vehicle V and a monitoring image (normal view) 21b around the host vehicle V.
- the control device 10 detects a parking space based on a predefined “parking condition”.
- the process of specifying a parking space and a recommended parking space is a process of detecting a parking space and a recommended parking space.
- the parking assist device 10 identifies the “parking available space” and the “recommended parking space” by detecting a parking space that satisfies the “parking condition”.
- the method of specifying “parking available space” and “recommended parking space” is not limited to those involving detection processing, and is subject to processing using identification information of “parking available space” and “recommended parking space” detected by an external device. “Parking available space” and “recommended parking space” may be specified.
- parking conditions will be described.
- the parking conditions of this embodiment include the following items. 1. 1. Parking frame line detection condition 2. Parking space detection conditions Parking conditions 4. Recommended parking conditions
- Parking frame line detection condition is a condition for detecting a diagram that forms a parking space from a captured image of a road surface.
- the “parking space detection condition” is a condition for detecting a parking space from a road surface diagram.
- the “parking available condition” is a condition for detecting a parking available space where parking is possible.
- the “recommended parking condition” is a condition for narrowing down a recommended parking space that encourages the host vehicle V to park among the parking spaces. These conditions may be employed alone as “parking conditions”, or may be employed in combination as a “parking condition”.
- step 103 the control device 10 detects a parking frame line, detects a parking space based on the captured images of the cameras 1a to 1d and / or data received by the distance measuring device 3, and uses these pieces of information.
- a parking space Me is detected.
- the parking space is detected from the captured images of the cameras 1a to 1d.
- the method for detecting the parking space is not particularly limited, and information is acquired from an external server to detect or specify the parking space. May be.
- the control device 10 determines whether or not the vehicle travels in an area including a parking space (hereinafter also referred to as a parking area). For example, when the vehicle speed of the host vehicle V is equal to or lower than a predetermined vehicle speed threshold and the state continues for a certain time or longer, the control device 10 determines that the host vehicle V is traveling in the parking area. To do. The control device 10 determines whether or not the vehicle is traveling in the parking area based on the position information attribute of the navigation system (not shown) (information indicating that the point is a parking lot).
- the detected position information belongs to a parking area such as a parking space on an expressway
- the control apparatus 10 detects a white line based on the captured image acquired for the production
- the white line is a boundary line that defines the frame (area) of the parking space.
- the control device 10 calculates a luminance difference (contrast) by performing edge detection on the captured image.
- the control device 10 specifies a pixel row having a luminance difference equal to or greater than a predetermined value from the overhead image, and calculates the line thickness and the line length.
- the frame line indicating the parking space does not necessarily have to be white, and may be another color such as red.
- the control device 10 detects a line that satisfies the following condition “1. Parking frame line detection condition” as a parking frame line. In this example, a diagram satisfying all of (1) to (6) is detected as a parking frame line. Any one or more of the conditions (1) to (6) may be selected and applied.
- Parking frame line detection condition (1) The edge luminance difference is equal to or greater than a predetermined threshold. (2) The angle of the line is within a predetermined threshold. (3) The line width is within a predetermined threshold. (4) The length of a continuous edge (line) is not less than a predetermined value. (5) The luminance difference of noise between lines is less than a predetermined threshold. (6) The likelihood (likelihood) indicating the likelihood as a parking frame line calculated based on the evaluation values of (1) to (5) above is a predetermined value or more.
- the control device 10 detects a parking space from the detected parking frame line candidates using a known image processing technique such as pattern matching. Specifically, the control device 10 detects a parking frame line that satisfies the following condition “2. Parking space detection condition” as a parking space. In this example, a parking frame line that satisfies all of (1) to (3) is detected as a parking space.
- the control apparatus 10 detected a parking space using the well-known image processing techniques, such as pattern matching, from the detected parking frame line candidate, in this embodiment, it is not restricted to this, but a parking frame line is used. You may make it detect a parking space directly, without detecting.
- an empty space in a predetermined range may be detected as a parking space, or a place where a parking operation has been executed in the past may be detected as a parking space.
- a parking space can be directly detected without detecting a parking frame line as long as it satisfies a preset condition that defines the probability of being a parking space.
- Parking space detection condition (1) Among lines extracted as parking frame line candidates, a line having a length equal to or greater than a preset first threshold (for example, a length corresponding to an actual distance of 15 [m]) Is not included. (2) Among the lines extracted as parking frame line candidates, a pair of substantially parallel pairs that are equal to or smaller than a preset second threshold (for example, a length corresponding to an actual distance of 3 to 5 [m]). The line does not include a line having a length greater than or equal to a preset third threshold (for example, a length corresponding to an actual distance of 7 [m]).
- a preset first threshold for example, a length corresponding to an actual distance of 15 [m]
- the location information of the parking space may be included in the map information of the navigation system and stored.
- the location information of the parking space may be acquired from an external server or a facility (parking lot) management device.
- FIG. 4A is a first diagram illustrating an example of a parking support process according to the present embodiment.
- the position of the traveling vehicle V is P1
- the vehicle speed is V1.
- the control device 10 detects a parking space in which the host vehicle V moving in the arrow direction (in front of the host vehicle V) can be parked. It may be the center of gravity position V0 of the host vehicle V, may be the position of the front bumper of the host vehicle V, or may be the position of the rear bumper of the host vehicle V.
- control device 10 uses the detection data of the distance measuring device 3 / image processing device 2 to detect a free parking space according to the following parking conditions.
- the control device 10 stores “parking conditions” for extracting the parking space Me.
- “Parking conditions” are defined from the viewpoint of extracting parking spaces where parking is possible.
- the “parking conditions” are preferably defined in terms of the distance from the host vehicle V, whether or not other vehicles are parked, and the presence or absence of an obstacle.
- the control device 10 detects a parking available space Me where the host vehicle V can be parked based on the “parking available condition”.
- the parking space Me is a parking space where the host vehicle V can be parked.
- the “parking possible condition” of the present embodiment is defined from the viewpoint of extracting a parking space where the host vehicle V can be parked. (1) A predetermined distance range from the host vehicle V. (2) The parking space is empty. (3) There are no obstacles.
- Control device 10 determines whether there is an obstacle in the parking space. In the parking area shown in FIG. 4A, the control device 10 does not detect the parking spaces PR1, PR4, PR6, and PL3 as the parking spaces Me because other vehicles are parked. Since the obstacle M1 exists in the parking space PR8, the control device 10 does not detect the parking space PR8 as the parking space Me.
- the control device 10 detects a parking space where the host vehicle V can move to the parking space.
- the control device 10 determines that the host vehicle V can be parked in the parking space.
- FIG. 4A the path
- the route L is a route that travels from the current position of the host vehicle V to the forward intermediate position Mw, switches back to the parking space PL at the intermediate position Mw.
- a parking space where a route cannot be obtained on the road surface due to the presence of an obstacle such as a wall is not detected as a parking space that can be parked. Since the wall W becomes an obstacle, a route (broken line arrow L) leading to the parking space PL8 cannot be obtained.
- Control device 10 does not detect parking space PL8 as parking space Me.
- the control device 10 detects a parking space that is ahead of the reference position of the host vehicle V and belongs to a predetermined distance range from the host vehicle V as a parking space at the position P1 of the host vehicle V.
- the reference position of the host vehicle V can be arbitrarily set.
- PL2 to PL5 and PR2 to PR5 belong to the detection range of the parking space Me.
- the control device 10 can prevent the parking space PL1 that moves behind the host vehicle V within a predetermined time from being detected as the parking space Me.
- the detection range can be expanded according to the performance of the cameras 1a to 1d and the distance measuring device 3.
- the parking assistance device 100 of the present embodiment presents parking information regarding this detection range to the driver.
- the detection range is not limited to the range of PL2 to PL5 and PR2 to PR5, and may be the range of PL1 to PL8, PR1 to PR8, for example.
- the detection range may be limited to a range including PR1 to PR8 on the right side of the host vehicle V, or may be limited to a range including PL1 to PL8 on the left side of the host vehicle V.
- control device 10 of the present embodiment is a parking space that is an empty vehicle (no other vehicle is parked), a route L can be derived, and belongs to a predetermined detection range. And detected as a parking space Me.
- the fact that the route L can be derived means that the locus of the route L can be drawn on the road surface coordinates without interfering with an obstacle (including a parked vehicle).
- the control device 10 detects the parking spaces PL2, PL4, PL5, PR2, PR3, and PR5 as parking spaces Me within the detection range.
- the detected parking space Me is marked with a dotted circle mark Me which is a parking mark.
- step 104 the control apparatus 10 detects the recommended parking space Mr according to the following parking recommended conditions.
- the “recommended parking condition” of the present embodiment is defined from the viewpoint of extracting a parking space with a low cost for parking (also referred to as “required parking cost”, the same applies hereinafter).
- the number of turnovers required for parking is not more than a predetermined number.
- the time required for parking is a predetermined time or less.
- the moving distance required for parking is not more than a predetermined distance.
- the control device 10 detects a recommended parking space Mr according to the traveling state of the host vehicle V from the plurality of detected parking spaces.
- the control device 10 stores “recommended parking conditions” for extracting the recommended parking space Mr.
- the “recommended parking condition” is defined from the viewpoint of extracting a parking space with a low parking cost.
- the “recommended parking condition” is preferably defined in terms of the number of turnovers required for parking, the time required for parking, and the travel distance required for parking. Based on the “recommended parking condition”, the control device 10 extracts a recommended parking space Mr having a low parking cost from the parking spaces.
- the control apparatus 10 evaluates a parking required cost for each parking space.
- the parking required cost includes the time required for parking, the number of operations required for parking (the number of steering operations, the number of brake / accelerator operations), and the travel distance required for parking.
- the control apparatus 10 calculates
- the control apparatus 10 evaluates each parking required cost based on the evaluation result of each route.
- the control device 10 calculates a route when the host vehicle V is parked in each parking space Me.
- the route is a trajectory from the start position of the parking assistance process to the parking completion position of each parking space Me.
- the control device 10 sets a start position for each parking space Me.
- the control device 10 calculates a route from the start position to each parking space Me.
- the number of routes for automatic driving is not limited to one, and the control device 10 calculates a plurality of routes according to the surrounding conditions.
- Parking required costs such as the number of turnovers of the route calculated for each parking space Me, the length of the route, the time to travel along the route (parking time), and the maximum turning angle are different.
- the smaller the number of turnovers the shorter the time required for parking (the required parking cost is small).
- the shorter the length of the route the shorter the time required for parking (the required parking cost is small).
- the smaller the maximum turning angle the shorter the time required for parking (the required parking cost is small).
- the greater the number of turnovers the longer the time required for parking (the parking cost is greater).
- the longer the maximum turning angle the longer the time required for parking (the parking required cost is greater).
- the case where the host vehicle V is parked in the parking spaces PL6 and PL7 that can be parked shown in FIG. 4A will be described as an example.
- the distance from parking space PL7 to wall W is shorter than the distance from parking space PL6 to wall W.
- the number of turnovers when parking in the parking space PL7 is greater than the number of turnovers when parking in the parking space PL6 (the parking required cost is increased).
- the time required for parking for parking in the parking space PL7 is longer than the time required for parking for parking in the parking space PL6 (the required parking cost increases).
- the control device 10 calculates a parking required cost (including parking time) for parking for each parking space, and stores it in association with the identifier of each parking space.
- the control device 10 moves the parking required cost for parking in each parking space Me along the route, the parking required cost according to the number of times the route is turned back, the parking required cost according to the route length, and the route. It calculates using any one or more parking required cost among the parking required cost according to the time (parking time) to perform and the parking required cost according to the maximum turning angle.
- Each parking cost may be calculated by defining a weight according to the type.
- the control device 10 calculates the gaze point distance based on the vehicle speed of the host vehicle V.
- the gaze point distance corresponds to the distance from the position of the host vehicle V to the position (gaze point) where the driver of the host vehicle V gazes.
- the control apparatus 10 detects the parking space according to the position where the driver is gazing as the recommended parking space.
- the control device 10 sets a longer gaze distance as the vehicle speed of the host vehicle V is higher, and sets a shorter gaze distance as the vehicle speed of the host vehicle V is lower. Set. Thereby, parking assistance to the parking space according to the driver's intention can be executed.
- the gazing point distance is the length to the gazing point along the traveling direction of the host vehicle V.
- the gazing point distance is not necessarily a straight line, and may be a curved line.
- the direction of the gazing point distance can be set according to the steering angle of the host vehicle V.
- FIG. 5 is a graph showing the relationship between the vehicle speed (V [km / S]) and the gaze point distance (Y [m]).
- a solid line indicates the relationship when the vehicle speed increases, and a broken line indicates the relationship when the vehicle speed decreases.
- the gazing point distance is Ya.
- the gazing point distance from the vehicle speed Va to Vc is Ya.
- the gazing point distance Y increases in proportion to the vehicle speed V.
- the gazing point distance is Yb.
- the gazing point distance is shortened along the broken line in FIG.
- the gaze point distance is Yb until the vehicle speed decreases from Vd to Vb.
- the gazing point distance decreases in proportion to the decrease in the vehicle speed until the vehicle speed decreases from Vb to Va. That is, the relationship between the vehicle speed Va and the gaze point distance Y has a hysteresis characteristic between the increasing direction and decreasing direction of the vehicle speed Va.
- the ROM 12 of the control device 10 stores a map (for example, the relationship shown in FIG. 5) between the vehicle speed V and the gaze point distance Y.
- the control device 10 acquires information on the vehicle speed V from the vehicle speed sensor 60, and calculates a gaze point distance Y corresponding to the vehicle speed V with reference to the map.
- the control device 10 detects a parking space near the gazing point (within a predetermined distance from the gazing point) separated from the host vehicle V by the gazing point distance Y.
- the parking assist device 100 of the present embodiment defines that the gaze point distance when the vehicle speed decreases has a hysteresis characteristic.
- the gazing point distance Yd is maintained even when the vehicle speed decreases. Accordingly, it is possible to prevent an unnatural display in which the position of the recommended parking space Mr goes backward in the traveling direction of the host vehicle V and approaches the host vehicle V.
- the gazing point distance may be included in the recommended parking condition described above. Thereby, the parking space according to a driver's viewpoint can be recommended.
- FIG. 4B shows a state where the host vehicle V has advanced from the position P1 shown in FIG. 4A to the position P2.
- the speed of the host vehicle V at the position P2 is V2 ( ⁇ V1).
- the control device 10 calculates the gaze point distance Y corresponding to the vehicle speed V2 with reference to the map.
- the control device 10 specifies G2 that is separated from the position P2 by the gaze point distance as the gaze point (G2).
- the host vehicle V is in a state where the parking space is selected by lowering the vehicle speed V2 ( ⁇ V1). Since the vehicle speed is decreasing, the distance between the gazing point G2 and the host vehicle V is shorter than the distance between the gazing point G1 and the host vehicle V shown in FIG.
- the control device 10 detects a recommended parking space from the parking spaces PL2, PL4, PL5, PR2, PR3 in the vicinity of the gazing point G2.
- the control device 10 detects the recommended parking space based on the parking required cost of each parking space PL2, PL4, PL5, PR2, PR3.
- the control device 10 assigns an identification number to the parking space Me near the gazing point G2.
- the control apparatus 10 calculates the parking required cost for parking in the parking space Me.
- the control apparatus 10 may read the parking required cost for parking calculated previously.
- the parking required cost for parking in each parking space Me is a load such as the required parking time, the number of operations, and the moving distance required for moving the vehicle V to the parking space by automatic driving.
- the parking required cost for parking is an index different from the difficulty level when the driver performs the parking operation.
- the control apparatus 10 calculates the parking required time of the parking space Me for every parking space Me. In the example of FIG. 4B, the control device 10 calculates the parking required times of the parking spaces PL2, PL4, PL5, PR2, PR3, and PR5 where parking is possible, and stores them in association with each identification number.
- the control device 10 compares the parking required cost for parking in each parking space Me with a predetermined threshold value set in advance.
- the predetermined threshold is an upper limit threshold of the required parking cost including the required parking time when parking by automatic driving.
- the control device 10 detects the parking space Me as the recommended parking space Mr.
- the control device 10 does not detect the parking space Me as the recommended parking space Mr.
- the parking available space Me having the shortest required parking time (lowest parking cost) may be detected as the only recommended parking space Mr.
- the control device 10 detects, as the recommended parking space Mr, the parking available space Me having the lowest parking cost among the available parking spaces Me.
- the parking space PL4 having the parking required cost (parking required time) lower than the predetermined threshold and the closest gaze point (low parking required cost) is detected as the recommended parking space Mr.
- the control device 10 executes a recommended parking space Mr detection process at a predetermined cycle. As shown in FIG. 4C, a new recommended parking space Mr is also detected when the host vehicle V moves forward to the position P3 at the vehicle speed V3. The control device 10 calculates a new gazing point G3, calculates the parking required cost required to move from the current position to each parking space Me, and sets the parking space PL5 having the lowest parking cost as the recommended parking space Mr. To detect.
- step 105 the control device 10 displays the parking space Me and the recommended parking space Mr on the display 21.
- the display method of the parking space Me and the recommended parking space Mr in the present embodiment will be described in detail later.
- step 106 it is determined whether or not the target parking space Mo has been input.
- the target parking space Mo is a parking space where the vehicle is parked by automatic driving, and is a target position in automatic driving.
- the target parking space Mo is input by the passenger.
- the display 21 is a touch panel display
- step 106 when the target parking space Mo is input, the control flow proceeds to step 107.
- the control flow returns to step 104, and the control flow from step 104 to step 106 is executed.
- step 107 when the target parking space Mo is input, the parking space is set as the target parking space Mo.
- step 108 the control device 10 calculates a route for moving the host vehicle V to the target parking space Mo.
- FIG. 4D is a diagram illustrating a scene in which the parking space PL5 is designated as the target parking space Mo.
- the control device 10 calculates a path for parking based on the positional relationship between the position P4 of the host vehicle V that starts the parking operation (movement) and the position of the target parking space Mo.
- the control device 10 determines the curve L1 from the stop position of the host vehicle V, that is, the parking support start position to the intermediate position Mw to be turned back, and the intermediate position Mw to the target parking space Mo (PL5).
- the curve L2 is calculated as a route.
- the control device 10 reads the route corresponding to the selected parking mode, and calculates the route based on the positional relationship between the position of the host vehicle V and the position of the target parking space Mo when the automatic parking process is started.
- the control device 10 causes the vehicle controller 30 to execute a process of moving the host vehicle V to the target parking space Mo along the calculated route when the driver presses the deadman switch during the automatic parking mode described above.
- control apparatus 10 calculates the path
- route is calculated.
- the present invention is not necessarily limited thereto, and a route corresponding to the type of the parking space is stored in a memory (ROM) so that the route is read out when parking. It may be.
- the driver of the host vehicle V may select the route parking mode (parallel parking, parallel parking, diagonal parking, etc.).
- step 109 the parking assistance device 100 of the present embodiment executes a parking assistance process or an automatic parking process.
- the parking assistance apparatus 100 of this embodiment controls the operation of the drive system 40 via the vehicle controller 30 so that the host vehicle V moves along the route.
- the parking assist device 100 feeds the output value of the steering angle sensor 50 provided in the steering device to the driving system 40 of the own vehicle V such as an EPS motor so that the traveling locus of the own vehicle V matches the calculated route.
- the command signal is calculated, and the command signal is sent to the drive system 40 or the vehicle controller 30 that controls the drive system 40.
- the parking support device 100 of this embodiment includes a parking support control unit.
- the parking assistance control unit acquires shift range information from the AT / CVT control unit, wheel speed information from the ABS control unit, rudder angle information from the rudder angle control unit, engine speed information from the ECM, and the like. Based on these, the parking assist control unit calculates and outputs instruction information related to automatic steering to the EPS control unit, instruction information such as a warning to the meter control unit, and the like.
- the control device 10 acquires, via the vehicle controller 30, each piece of information acquired by the steering angle sensor 50, the vehicle speed sensor 60, and other sensors provided in the steering device of the host vehicle V.
- the drive system 40 of the present embodiment moves (runs) the host vehicle V from the current position to the target parking space Mo by driving based on the control command signal acquired from the parking assist device 100.
- the steering device of the present embodiment is a drive mechanism that moves the host vehicle V in the left-right direction.
- the EPS motor included in the drive system 40 controls the steering amount by driving the power steering mechanism included in the steering device based on the control command signal acquired from the parking assist device 100, and sets the host vehicle V to the target parking space Mo. Support the operation when moving to.
- movement technique of parking assistance are not specifically limited, The technique known at the time of application can be applied suitably.
- the parking assist device 100 is configured to use an accelerator when moving the host vehicle V to the target parking space Mo along a route calculated based on the position P4 of the host vehicle V and the position of the target parking space Mo.
- the brake is automatically controlled based on the designated control vehicle speed (set vehicle speed), and the operation of the steering device is automatically controlled according to the vehicle speed. That is, the steering operation and the accelerator / brake operation are automatically performed at the time of parking assistance of the present embodiment.
- the parking assistance apparatus 100 of this embodiment is applicable also to the manual parking in which a driver operates an accelerator, a brake, and a steering.
- the parking assist device 100 controls the drive system 40 based on the preset vehicle speed calculated in advance so that the host vehicle V moves along the route, and also based on the preset steering angle calculated in advance. V steering device is controlled.
- the parking assistance device 100 includes an automatic travel mode that does not require the driver's operation and a manual operation mode that requires the driver's operation. Furthermore, the automatic travel mode includes a boarding operation mode in which the driver gets on and operates the host vehicle V, and a remote operation mode in which the driver remotely controls the host vehicle V from the outside of the host vehicle V.
- parking support information is presented using the output device 20 including the display 21.
- FIG. 7 an example of the display method of parking assistance information is shown.
- an overhead image (top view) 21 a is displayed on the left side of the screen of the display 21
- a monitoring image (normal view) 21 b is displayed on the right side of the screen of the display 21, and the monitoring image 21 b is displayed.
- the bird's-eye view image 21a includes an image (parking space boundary line) indicating a selectable parking space.
- the icon of the own vehicle V which shows the position of the own vehicle V is displayed on the center of the bird's-eye view image 21a.
- the monitoring image 21b can display captured images of different cameras 1a to 1d according to the operation state of the host vehicle V.
- a captured image of the camera 1a is displayed on the front grill portion of the host vehicle V.
- a captured image of the camera 1d disposed near the rear bumper may be displayed.
- the bird's-eye view image 21a and the monitoring image 21b are simultaneously shown on the display 21, but only the bird's-eye view image 21a may be shown on the display 21 or only the monitoring image 21b may be shown on the display 21.
- FIG. 7 shows parking support information displayed when the target parking space Mo is being searched.
- the host vehicle V moves forward, and the control device 10 waits for input of selection information for the target parking space Mo.
- FIG. 7 shows a scene where the parking space PL4 shown in FIG. 4B is detected as the recommended parking space Mr.
- the available parking space Me and the recommended parking space Mr are displayed in the overhead image 21a.
- the parking space Me and the recommended parking space Mr change as the host vehicle V moves.
- the parking assistance device 100 displays the sequentially detected parking available space Me and recommended parking space Mr.
- the parking assistance device 100 indicates a circular parking mark in the parking space Me and a rectangular recommended mark in the recommended parking space Mr.
- the parking space Me and the recommended parking space Mr change sequentially as the host vehicle V moves.
- the parking assistance device 100 changes and displays the position of the parking mark or the recommended mark.
- the display position of the parking mark or the recommendation mark is changed every time the parking space Me and the recommended parking space Mr change. If the display position changes suddenly, there may be insufficient time for selecting the parking space Me or the recommended parking space Mr.
- the control device 10 detects a parking space that satisfies a parking condition for extracting a parking space recommended for the driver, as a recommended parking space, out of the parking spaces.
- the parking assistance apparatus 100 of this embodiment displays a recommended parking space in a 1st display mode.
- the recommended parking space is a parking space that requires a short time for the parking process of the host vehicle V among the parking spaces.
- a parking space that is far from the current position and requires time (parking required cost) for a parking process that requires repeated turning operations is not convenient for a driver who uses the parking assistance device 100.
- a parking space with a short time required for the parking process of the host vehicle V is extracted as a recommended parking space.
- the parking assistance apparatus 100 indicates a rectangular recommended mark Mr in the recommended parking space.
- the first parking space to be displayed in the present embodiment is a parking space that satisfies the above-described parking conditions, and includes a parking available space and a recommended parking space (hereinafter the same).
- the parking space that existed in front of the host vehicle V is detected as the first parking space (including a parking space and / or a recommended parking space, the same shall apply hereinafter), and its position is displayed. Thereafter, when the first parking space is behind the own vehicle V with the movement of the host vehicle V, the first parking space detected before moving is no longer suitable as the target parking space Mo. is not.
- the first parking space detected before moving if the first parking space is behind, the mileage will increase and the number of turnovers will increase. Cost can be high.
- first parking space including a parking space and / or a recommended parking space, the same applies hereinafter
- the first parking space is detected first.
- One parking space is not an optimal parking space as a target parking space. Parking in the first parking space detected under the current condition (position) takes less time for the parking process than parking in the first parking space detected under the previous condition (position) (parking required cost) Is low). That is, parking in the first parking space detected under the current condition (position) is more convenient when automatic parking is performed than parking in the first parking space detected under the past condition (position). Is expensive.
- This parking assistance method includes a process of specifying a parking space (target parking space) where the host vehicle V is actually parked.
- a parking space other than the parking space detected by the parking assistance device 100 (including the above-described parking available space and the recommended parking space; the same applies hereinafter) relates to a control method when the driver selects the parking space.
- the parking assist device 100 of the present embodiment detects a parking space using the captured images of the cameras 1a to 1d and the distance measurement information of the distance measuring device 3. However, depending on the arrangement position of the cameras 1a to 1d, the imaging environment, the processing method of the image processing device 2, the arrangement position of the distance measuring device 3, the size and position of the three-dimensional object, a parking space that can be used in practice. May not be detected. In that case, the parking support device 100 presents the driver with a usable parking space (including the parking space and the recommended parking space described above; the same shall apply hereinafter) and designates another parking space. There is. This is because the driver can confirm the available parking space by his / her own visual / auditory.
- the driver selects and inputs a parking space presented as a parking space that cannot be used by the parking assistance device 100 (a parking space other than the parking space presented as usable by the parking assistance device 100) as a target parking space. If the process of the parking assistance apparatus 100 is restricted by the detection result of itself (apparatus), the process according to the driver's selection input cannot be executed. There is a problem that the driver feels bothered that the parking assistance device 100 does not operate in accordance with the target parking space that the driver has selected by himself / herself.
- the first parking space detection process is performed again.
- the parking condition may not be satisfied even if the parking space is suitable for parking (including a parking space and a recommended parking space).
- Such a parking space may not be detected as the first parking space (parkable space).
- the driver can confirm a parking space suitable for parking, it is troublesome for the driver that the parking support apparatus 100 does not display the parking space as a parking space.
- the control device 10 again determines whether the parking space satisfies the parking condition, and determines the parking space that satisfies the parking condition as the first. Detect as one parking space. By detecting the parking space again, there is a possibility that the parking space that could not be detected last time can be detected as the first parking space.
- “re-execution of detection processing” is also referred to as “re-detection”. same as below.
- the control device 10 executes the parking space re-detection processing for the second parking spaces other than the first parking space selected based on the result of the previous detection processing. That is, it is determined whether or not the second parking space satisfies a predetermined parking condition, and when the second parking space satisfies a predetermined parking condition, the second parking space is detected as the first parking space. (Identify.
- the parking space to be subjected to the re-detection process may not be limited.
- FIG. 8 to 11 are flowcharts showing a control method of the parking assistance apparatus 100 of the present embodiment.
- 8 to 13 show processing when the target parking space is input by the driver in step 106 shown in FIG.
- the parking space to be subjected to this processing may be either the parking available space detected in step 103 in FIG. 2 or the recommended parking space detected in step 104 in FIG.
- the operation and effect of the present embodiment can be obtained regardless of whether the parking space to be processed is a “parkable space” or a “recommended parking space”.
- FIG. 8 is a diagram illustrating a first control example.
- the control device 10 determines whether or not the target parking space input by the driver in step 106 shown in FIG. 2 is the parking space presented in step 105. If the target parking space input by the driver is other than the presented parking space, the process proceeds to step 3. On the other hand, if the target parking space input by the driver is the presented parking space, the process proceeds to step S2, and the processing after step 107 in FIG. 2 is executed.
- the control device 10 selects the second parking space (target parking space) in which the host vehicle V is input by the driver. Approach Mo).
- the control device 10 first directs the host vehicle V to the second parking space according to the driver's instruction.
- the control device 10 sends the input position of the target parking space Mo to the vehicle controller 30.
- the vehicle controller 30 uses the drive system 40 and the steering angle sensor 50 to move the host vehicle V so as to approach the target parking space Mo.
- the movement of the host vehicle V may be movement by automatic driving as described above, or may be movement by an operation of a driver.
- the control device 10 performs re-detection (processing after step S3) while the host vehicle V is moving. The closer to the detection target, the more accurate captured image / ranging data can be obtained. When the driver is moving toward the desired target parking space Mo, a more accurate detection result for the target parking space Mo can be obtained by performing the re-detection process after step 3.
- the control device 10 performs re-detection at the timing when the host vehicle V approaches the selected second parking space.
- the timing at which the host vehicle V approaches the second parking space may be a timing at which the distance between the host vehicle V and the second parking space is equal to or less than a predetermined value, or the second parking space is selected by the driver. It may be the timing when a predetermined time has elapsed from the previous timing.
- a more accurate detection result for the target parking space Mo can be obtained by performing the re-detection process after step 3 after the driver approaches the desired parking space Mo.
- the control device 10 detects the second parking space other than the first parking space after the first parking space, in which the relationship with the host vehicle V satisfies the parking condition, is detected as the recommended parking space among the parking spaces. If selected, the first parking space is redetected. It is considered that the accuracy of the detection result is high at the stage where the recommended parking space is extracted from the parking spaces. By performing the re-detection process at this stage, it is possible to increase the reliability of the parking assistance apparatus 100 so that the re-detection process is not performed too frequently.
- step S3 the control device 10 lowers the parking condition standard (relaxes the standard) and executes re-detection.
- the control device 10 determines whether or not the input target parking space can be detected as a parking space that can be parked by the re-detection process with the reference lowered.
- the control device 10 proceeds to step S6 and sets the input target parking space as a parking target. Thereafter, the process proceeds to S2, and the processing after step 107 in FIG. 2 is executed.
- the output device 20 may be used to present the result of the re-detection process.
- step S3 when the input target parking space cannot be detected as a parking space where parking is possible, the control device 10 proceeds to step S7.
- step S7 the driver is requested to input the target parking space again.
- the output device 20 may be used to present a re-input request.
- the first parking space detection process is performed again. Therefore, even if it is actually possible to park, even if it is not detected as a parking space, the possibility of parking can be increased.
- the re-detection process in step S3 will be described.
- the control apparatus 10 performs a re-detection process about the predetermined area
- the purpose of the re-detection process is to re-detect whether or not the second parking space that could not be detected as a parking space that can be parked can be parked. By performing the detection process on the area near the second parking space, the re-detection process can be performed efficiently.
- the control device 10 of the present embodiment has been described above so that the first parking space can be easily detected in the process of redetecting the first parking space (including a parking space and a recommended parking space, the same applies hereinafter).
- Change the parking conditions In the process of redetecting the first parking space (parkable space, recommended parking space), the control device 10 of the present embodiment changes at least a part of the parking conditions so that the first parking space can be easily detected. .
- the control device 10 redetects the parking space under different parking conditions for the second parking space that could not be detected as a parking space that can be parked last time.
- the control device 10 decreases the item “parking condition” described above. By reducing the number of items defined as parking conditions, the first parking space can be easily detected, so that the first parking space that cannot be detected by the first detection process can be detected.
- the previous detection result is ignored for the predetermined parking condition.
- the control device 10 determines that the second parking space selected by the driver is parked or there is an obstacle in the second parking space in the previous detection processing of the first parking space, It is determined that the second parking space is an empty vehicle or that there is no obstacle in the second parking space. In other words, there was no previous "detection result that parked" or “detection result that there was an obstacle” on the assumption that the second parking space was selected after visually confirming that the driver was available. Treat as a thing.
- the detection results of other vehicles and three-dimensional objects including obstacles are easily affected by surrounding imaging conditions.
- a place where there is a puddle after rain it may be determined that a three-dimensional object exists based on reflected light from the water surface.
- a place where there is illumination it may be determined that a three-dimensional object exists based on night illumination light.
- there are various disturbance modes for the determination of the three-dimensional object based on the captured image and it may be difficult to deal with the situation. It is preferable to respect the presence of obstacle-free parking spaces / vacant parking spaces visually recognized by the driver.
- the “detection result that the vehicle is parked” and “detection result that there is an obstacle” that were issued last time are withdrawn.
- the second parking space that could not be detected as a parking space that can be parked due to the influence of disturbance in the imaging environment it can be re-detected whether the parking space is vacant or whether there is an obstacle.
- the control device 10 changes the “threshold value” of the “parking condition” so that the first parking space can be easily detected. Specific examples are shown below. 1. About detection of a parking frame line By changing the threshold value as follows, the parking frame line is easily detected. (1) Decrease the threshold value of the luminance difference between edges. (2) The range of the threshold of the line angle is expanded. (3) The line width threshold range is expanded. (4) Lower the threshold value of the length of continuous edges (lines). (5) The threshold value of the luminance difference of noise between lines is lowered. (6) The likelihood threshold value indicating the likelihood of the parking frame line calculated based on the evaluation values (1) to (5) is lowered. 2.
- the threshold of the length of the line excluded from the parking frame line candidates is increased.
- Change the threshold (upper limit / lower limit) of the length of the line that is a candidate for the parking frame line. 3. Judgment of parking availability By changing the threshold as follows, it is easy to determine that parking is possible. (1) Enlarge the determination target area. (2) Decrease the threshold for determining that the parking space is empty (make it easier to determine that the parking space is empty). (3) Decrease the threshold for determining that an obstacle exists (make it easier to determine that there is no obstacle).
- the threshold value of the parking condition for detecting the first parking space is adjusted. Whether the parking space can be used for the second parking space that could not be detected as a parking space that can be parked due to the influence of disturbance in the imaging environment, the influence of the position and size of the obstacle, the influence of the imaging range, etc. It can be re-detected.
- FIG. 9 is a diagram illustrating a second control example. Since the process of step S1, S2, S3, S6, and S7 is common to the 1st control example demonstrated based on FIG. 8, the said description is used.
- the control device 10 proceeds to step 3 when the target parking space input by the driver in step 106 shown in FIG. 2 is something other than the presented parking space.
- step S ⁇ b> 3 the control device 10 lowers the parking condition reference (relaxes the reference) and determines whether or not the parking space has been detected based on the parking condition.
- the process proceeds to step S4 and the re-detection result is displayed.
- the display mode is not limited. Moreover, you may progress to step S5, without displaying.
- step S5 the control device 10 determines whether or not the input device 5 is kept on.
- the control device 10 of the present embodiment sets the second parking space as the target parking space Mo, and it is determined that the input of the second parking space selection information is continuously performed via the input device 5. In the case, parking in the target parking space Mo is supported. Whether or not the input device 5 is kept pressed is determined based on the continuity of the selection signal input using the input device 5.
- the deadman switch 51 is used as the input device 5.
- the control device 10 sets the parking space related to the driver's selection input as the target parking space Mo only when the deadman switch 51 is in the ON operation state, and supports parking in the target parking space Mo. As described above, only when the driver's selection input operation is continued, the parking support process for parking the host vehicle V in the target parking space Mo to be selected is continuously performed. Parking assistance processing can be executed.
- the second parking space is designated as the target parking space Mo.
- the controller 10 confirms by the driver that the second parking space can be parked while the selection information for the second parking space is continuously input via the input device 5.
- the parking assistance process for parking the host vehicle V in the target parking space Mo is continued. Thereby, even if it is a case where a detection result is not accurate, based on the input information, a detection result can be corrected and appropriate parking assistance can be performed.
- FIG. 10 is a diagram illustrating a third control example.
- This control example is an example in which a driver outside the vehicle operates the parking assist device 100 of the host vehicle V using the portable input device 5. Since the processes of steps S1, S2, S3, S4, S6, and S7 are common to the first and second control examples described based on FIGS. 8 and 9, the above description is used.
- the control device 10 lowers the parking condition reference (relaxes the reference), determines whether or not the parking space has been detected based on the parking condition (step S3), and re-detects it. The result is displayed (step S4).
- step S51 the control device 10 determines whether the occupant is inside the vehicle or outside the vehicle. If the occupant is in the vehicle, the process proceeds to step S5. This process is common to step S5 in FIG. Moreover, the control apparatus 10 of this embodiment acquires the input information of the input device 5 that can be taken out of the passenger compartment. The control device 10 can determine whether or not the input device 5 is kept on from the information received from the portable input device 5.
- the control device 10 sets the second parking space as the target parking space Mo when the selection information of the second parking space is input via the portable input device 5. Furthermore, the control device 10 confirms that the second parking space can be used by the driver while the selection information of the second parking space is continuously input via the portable input device 5. The parking assistance process for guessing that the vehicle V is parked in the target parking space Mo is continued. Thereby, even if it is a case where a detection result is not accurate, based on the information input via the portable input device 5, a detection result is corrected and appropriate parking assistance can be performed.
- FIG. 11 is a diagram illustrating a fourth control example.
- the fourth control example starts from the re-detection process shown in step S3 shown in FIGS.
- the control device 10 performs re-detection processing when the target parking space input by the driver in step 106 illustrated in FIG. 2 is other than the presented parking space.
- This re-detection process may be executed when moving toward the target parking space Mo designated by the driver, or may be executed after approaching within a predetermined distance of the target parking space Mo.
- step S13 the control device 10 determines whether or not the target parking space Mo designated by the driver can be parked.
- the control device 10 redetects the presence of other parked vehicles and the presence of obstacles in the target parking space Mo designated by the driver. If the target parking space Mo can be parked, the control device 10 calculates a route in step S14. Furthermore, in step S15, the control device 10 follows the calculated route and determines whether or not the host vehicle V is movable, that is, whether or not there is an obstacle on the route. If the target parking space Mo designated by the driver can be parked (Yes in S13) and the host vehicle V is movable along the route (Yes in S15), the process proceeds to Step S16, and Step 107 shown in FIG. The subsequent processing is executed.
- step S15 if there is an obstacle on the calculated route and movement is not possible, the process proceeds to step S17.
- the host vehicle V actually approaches the target parking space Mo, or when the host vehicle V attempts to park in the target parking space Mo, it is difficult for the parking assist device 100 to execute the parking process. It is the scene that was judged. As a first example of this type of scene, a hidden obstacle could not be detected because the host vehicle V was away from the target parking space Mo, but when I approached the target parking space Mo, Or it is a case where the obstruction hidden in the vicinity is detected.
- the parking control can be executed (executed) when the host vehicle V is away from the target parking space Mo.
- the vehicle V actually approaches the target parking space Mo or the target parking is performed.
- parking control to the space Mo it is determined that the target parking space Mo cannot be parked.
- the parking space PL8 shown in FIG. 4A is selected as the target parking space, it is assumed that the parking control execution is determined because the parking space PL8 is empty.
- the host vehicle V approaches the parking space PL8 or actually starts the parking control to the parking space PL8, it is determined that the path for parking cannot be led due to the presence of the wall W. .
- the control device 10 of the present embodiment can prevent the execution of the parking support process from being given up. That is, the control device 10 according to the present embodiment continues the parking support process for the host vehicle V until the host vehicle V enters the parking space.
- the control device 10 according to the present embodiment performs processing according to the situation such as whether the parking support processing is the manual parking mode, the automatic parking mode, the remote parking mode, or the boarding parking mode. Execute. The process will be described below.
- step S17 the control device 10 asks the driver whether or not to switch to the “manual parking mode”. In other words, it is confirmed whether or not to manually park the driver.
- FIG. 12A shows a display example of a confirmation message. The confirmation message may be displayed on the display of the input device 5.
- the “manual parking mode” in the present embodiment is a mode in which the driver of the host vehicle V executes at least one of a steering operation and a brake / accelerator operation.
- the “manual parking mode” includes a semi-automatic parking mode partially executed by the parking assist device 100.
- the parking support device 100 including the in-vehicle device that cooperates
- the “automatic parking mode” can be used in any of a scene where the driver is in the own vehicle V and a scene where the driver is not in the own vehicle V.
- the host vehicle V is input by using the portable input device 5 described above to input a command to the parking assist device 100 of the host vehicle V.
- V parking operation can be remotely controlled.
- step S17 the process proceeds to step S18.
- step S18 the control device 10 determines whether or not the host vehicle V is in the “remote parking mode”. Whether or not the remote parking mode is set may be determined based on mode selection information input in advance, or may be determined based on the location of the input device 5.
- the parking assistance device 100 continues to communicate with the input device 5 at a predetermined cycle.
- the control device 10 can determine that the input device 5 exists outside the host vehicle V based on whether or not communication with the input device 5 is possible.
- step S18 If it is determined in step S18 that the vehicle is not in the remote parking mode, it is considered that the driver is on the vehicle V. In this case, the process proceeds to step S21.
- the control device 10 entrusts the driver to execute the parking process at that location.
- a display example of a message for switching to manual parking is shown in FIG.
- step S18 determines whether the remote parking mode is set, it is considered that the driver is not in the own vehicle V. In this case, the process proceeds to step S19.
- the control device determines that the first parking space does not satisfy the parking condition.
- the process which moves the own vehicle V to the switching position judged based on the position of 5 is performed.
- step S19 the control device 10 calculates a switching position for switching to the manual parking mode.
- the switching position is a position suitable for handing over the right to control the parking assist process of the host vehicle V to the driver.
- the control device 10 switches the parking mode of the parking assistance device 100 to the manual parking mode at the switching position. In other words, the control device 10 continues the control of the parking support process until it arrives at the switching position.
- the control device 10 calculates the “switching position” from the following viewpoints. (1) A place where the driver can easily get on (2) A place where other vehicles and pedestrians are not obstructed (3) A place where parking is easy in manual parking mode
- the items (1) to (3) will be described. “A place where drivers can easily ride” is determined from the following viewpoints. (A) The distance from the current position of the driver is short. The current position of the driver is determined based on the position of the input device 5 carried by the driver. (B) The door can be opened and closed. Judgment is made in consideration of the space where the driver's side door can be opened. “A place that does not hinder the movement of other vehicles and pedestrians” is determined from the following viewpoints. (A) There are no other vehicles or pedestrians. (B) Do not block the passage of other vehicles and pedestrians. The “location where parking processing is easy in the manual parking mode” is determined from the following viewpoint. (A) It is close to an ample parking space. (B) The adjacent parking space is empty.
- the operation area near the parking space (the area where the vehicle can be parked) is wide.
- the control device 10 may calculate a place satisfying all the items (1) to (3) as a switching position, or switch a place satisfying one or more items (1) to (3). You may calculate as a position. Although not particularly limited, an example of calculating the switching position is shown.
- the control device 10 calculates a route from the position of the host vehicle V when it is determined that the target parking space Mo cannot be parked to the position of the input device 5 carried by the driver. On the route, an area where the other vehicle and pedestrian do not exist / is not obstructed is detected.
- the control device 10 extracts an area of a size that allows the host vehicle V to stop and the door on the driver's seat side to open. Priorities are assigned in order of increasing distance from each area to the input device 5 (ie, driver). Among the high priority areas, a broader parking space and a parking space that is vacant next are extracted with priority. The extracted position becomes the switching position.
- the control device 10 transmits the position information of the switching position or a map indicating the position to the input device 5.
- FIG. 12C shows a display example of a message indicating the switching position. This message is displayed on the display of the input device 5.
- step S20 the control device 10 moves the host vehicle V to the switching position after transmitting the message indicating the switching position. After obtaining the confirmation signal from the input device 5, the movement to the switching position may be started.
- step S17 if “manual parking mode” is not selected, the process proceeds to step S22.
- the processing after step 22 is processing when “automatic parking mode” is selected.
- FIG. 13A shows a display example of a confirmation message. The confirmation message may be displayed on the display of the input device 5.
- step S22 the control device 10 determines whether or not the driver has selected another parking space.
- the other parking spaces are parking spaces other than the target parking space Mo that has been redetected in step S13.
- the process proceeds to step S28, and the control device 10 determines whether the selected parking space is a parking available space or a recommended parking space.
- the process proceeds to step S29, and the host vehicle V is parked in the parking space. If the selected parking space is neither a parking available space nor a recommended parking space, the process returns to step S12 to redetect the selected parking space.
- step S22 if the driver has not selected another parking space, the control device 10 proceeds to step S23. If no parking space is selected, it is considered that the driver has decided not to park, so it is preferable to end the parking assistance process. *
- the control device 10 of the present embodiment is more than the selectable parking space.
- a parking space located farther from V is presented as a selectable parking space.
- the driver can select one target parking space Mo from among the parking spaces presented as selectable parking spaces.
- the second parking space (target parking space Mo) designated by the driver may not satisfy the parking condition.
- the parking support process may get stuck.
- the driver may desire to go to find a distant parking space.
- the control device 10 of the present embodiment determines the range of the selectable parking space of the host vehicle V. Magnify in the direction of travel. As a result, there are more parking space options than at present. As a result, even if the second parking space designated by the driver (target parking space Mo) does not satisfy the parking conditions and the parking space cannot be selected, the driver can choose a new option (parking space that can be parked). Can be presented. As a result, the parking assistance process can be continued.
- an inquiry is made as to whether or not it is desired to park the host vehicle V in a parking space farther than a parking space that can be selected by the driver (a parking space not displayed on the selection screen). For example, in addition to the target parking space Mo that could not be parked, the only available parking space was presented, but the driver refused to park there and would like to park in a further parking space. is there.
- the other parking space which can be parked is shown, and it is inquired whether it parks.
- the control device 10 expands the area of the selectable parking space to the front of the host vehicle V and displays it now. A parking space other than the existing parking space is presented as a selectable parking space.
- the driver wishes to park the host vehicle V in a parking space (a parking space farther than a selectable parking space) where the driver is not displayed on the selection screen
- the selectable range is expanded, and parking spaces belonging to the expanded new selectable range are presented as selectable parking spaces.
- the case where no parking space is selected in step S22 may be a case where the operation input from the driver is not performed for a predetermined time or longer.
- step S23 the control device 10 indicates a parking space other than the parking space displayed on the selection screen to the driver. In order to move to another parking space selected by the driver, the control device 10 performs the processes after step S24.
- step S24 the control device 10 determines whether or not the host vehicle V is in the “remote parking mode”. The method of determining whether or not the remote parking mode is in common with step S18.
- step S24 If it is determined in step S24 that the vehicle is not in the remote parking mode, the driver is considered to be in the own vehicle V, and the process proceeds to step S27.
- step S24 determines whether the remote parking mode is set, it is considered that the driver has not boarded the host vehicle V. In this case, the process proceeds to step S25.
- step S25 the control device 10 calculates a switching position for switching to the manual parking mode.
- the switching position is a position suitable for handing over the right to control the parking assist process of the host vehicle V to the driver.
- the switching position can be obtained by the method described in step S19.
- the control device 10 transmits the position information of the switching position or a map indicating the position to the input device 5.
- a display example of a message indicating the switching position is shown in FIG. This message is displayed on the display of the input device 5.
- step S26 as shown in FIG. 13 (C), the control device 10 moves the host vehicle V to the switching position after transmitting the message indicating the switching position. After obtaining the reception confirmation from the input device 5, the movement to the switching position may be started.
- the parking assistance apparatus 100 of this embodiment even if it is a situation which must give up parking the own vehicle V in the target parking space Mo, it gives up execution itself of parking assistance. Can be prevented.
- a switching position suitable for switching to the manual parking mode is calculated based on the location of the input device 5 used for remote control, and the host vehicle is calculated at the switching position. Deliver V to the driver. Thereby, the possibility that the parking assistance apparatus 100 can complete the parking assistance process can be increased.
- the parking support method according to the embodiment of the present invention is used in the parking support apparatus as described above, the following effects can be obtained. Since the parking assistance apparatus 100 of this embodiment is comprised and operate
- the parking support method of the present embodiment when a first parking space that satisfies a predefined parking condition is detected and information for selecting a second parking space other than the first parking space is input. In this case, the re-detection of the parking space that satisfies the parking condition is executed again. As a result, it is possible to find a possibility that the host vehicle V can be parked in a parking space that is not actually detected as a space that can be parked despite being actually parkable.
- the parking method of the present embodiment in the process of redetecting the first parking space, it is determined whether or not the second parking space to which the information to be selected is input satisfies the parking condition. Is detected as the first parking space. Thereby, since the detection area of the first parking space is limited, the detection time can be shortened.
- the control apparatus 10 of the parking assistance apparatus 100 performs at least one of the parking conditions so that the first parking space can be easily detected in the process of redetecting the first parking space (parking available space, recommended parking space). Change the department. With respect to the second parking space that could not be detected as a parking space that can be parked once, it is possible to reconfirm whether parking is possible under different parking conditions.
- the threshold value of the parking condition is changed so that the first parking space is easily detected.
- the threshold of the parking conditions for detecting the first parking space parking available space, recommended parking space
- the influence of disturbance of the imaging environment the influence of the position and size of the obstacle
- the influence of the imaging range Whether or not the parking space can be used for the second parking space that could not be detected as a parking space that can be parked can be reconfirmed.
- a predetermined area near the second parking space selected by the driver is re-detected.
- the control device 10 performs a re-detection process on a predetermined area near the second parking space selected by the driver. By performing the detection process on the area near the second parking space, the re-detection process can be performed efficiently.
- the second parking space in the detection of the first parking space, if it is determined that the second parking space selected by the driver is parked or there is an obstacle in the second parking space, the second parking space is restarted. In the detection process, it is determined that the second parking space is an empty vehicle or that there is no obstacle in the second parking space. In this embodiment, regarding the target parking space from the driver, the “detection result that the vehicle is parked” and the “detection result that there is an obstacle” that were issued last time are withdrawn. Thereby, it can be reconfirmed whether the parking space is vacant about the 2nd parking space which was not able to be detected as a parking space which can be parked under the influence of disturbance of an imaging environment.
- the control device 10 when the second parking space is selected by the driver, restarts at the timing when the host vehicle V approaches the selected second parking space. Perform detection. By performing the re-detection process after approaching the target parking space Mo desired by the driver, a more accurate detection result regarding the target parking space Mo can be obtained.
- the control device 10 detects the first parking space that satisfies the parking condition among the parking spaces as the recommended parking space after the relationship with the host vehicle V is detected.
- the second parking space other than the first parking space is selected, the first parking space is detected again. It is considered that the accuracy of the detection result is high at the stage where the recommended parking space is extracted from the parking spaces.
- By performing the re-detection process at this stage it is possible to prevent the re-detection process from being performed too frequently. By suppressing the execution frequency of the re-detection process, the reliability of the parking assistance apparatus 100 can be increased. Moreover, since the re-detection process is performed only in an appropriate scene, the processing cost can be reduced.
- the method of the present embodiment further includes the input device 5 capable of exchanging signals with the parking assistance device 100, and the selection information of the second parking space is continuously input via the input device 5. If it is determined that the vehicle has been closed, the second parking space is set as the target parking space, and parking in the target parking space is supported. Only when the deadman switch 51 is in the ON operation state, the control device 10 sets the parking space related to the driver's selection input as the target parking space Mo, and supports parking in the target parking space Mo. Only when the driver's selection input operation is continued, the parking support processing for continuously parking the host vehicle V in the target parking space Mo to be selected is performed. Can be executed.
- the method of the present embodiment further includes the input device 5 capable of exchanging signals with the parking assist device 100, and capable of exchanging information with the control device 10, including the portable input device 5. Since the parking assistance device 100 is used, the parking assistance processing of the host vehicle V can be remotely controlled.
- the present embodiment further includes an input device 5 capable of exchanging information with the parking support device 100, and parking support when the input device 5 is located outside the host vehicle V (when remotely controlled).
- the control device 10 When it is determined that the second parking space does not satisfy the parking condition as a result of the re-detection of the second parking space, the control device 10 according to the present embodiment automatically detects the switching position determined based on the position of the input device 5. The vehicle V is moved.
- a switching position suitable for switching to the manual parking mode is calculated based on the location of the input device 5 used for remote control, and the host vehicle is calculated at the switching position. Deliver V to the driver. Thereby, the possibility that the parking assistance apparatus 100 can complete the parking assistance process can be increased.
- the occupant when it is determined that the second parking space does not satisfy the parking condition as a result of the re-detection, the occupant is asked whether to manually park in the second parking space. Thereby, even when it is difficult to park in the second parking space by the parking assistance device 100, it is possible to encourage the occupant to try to park manually, so that the possibility of parking in the second parking space increases.
- the vehicle when it is determined that the second parking space does not satisfy the parking condition as a result of the re-detection, the vehicle is positioned farther than a selectable parking space with reference to the own vehicle V.
- the parking space to be displayed is presented as a selectable parking space.
- the second parking space (target parking space Mo) specified by the driver does not meet the parking conditions and the parking space can no longer be selected. Can be presented to the driver. As a result, the parking assistance process can be continued.
- the parking support method / parking information display method described above can be implemented using the parking support device 100 of the present embodiment.
- the parking assistance apparatus 100 of this embodiment has the effect
- control device 10 the display 21, and the parking support device 100 including the input device 5 will be described as an example. It is not limited.
Abstract
Description
本実施形態の駐車支援装置100は、操舵操作を自動で行い、アクセル・ブレーキ操作をドライバが行う半自動タイプであってもよい。駐車支援装置100は、操舵操作、アクセル・ブレーキ操作が自動的に行われる自動制御タイプであってもよい。また、本実施形態の駐車支援装置100は、車両に搭乗せずに、外部から車両の動きを制御して、車両を所定の駐車スペースに駐車させるリモートコントロールタイプであってもよい。
本実施形態の駐車支援装置100は、ステアリング、アクセル、ブレーキを操作して自動で駐車させる自動駐車システム、ステアリング、アクセル、ブレーキのうち一部の操作を手動で行い、他の操作を自動で行う半自動駐車システムにも適用可能である。その他にも、駐車スペースへ至る経路を提示して、自車両を駐車スペースに誘導することにより駐車を支援するシステムにも適用可能である。
1.駐車枠線の検出条件
2.駐車スペースの検出条件
3.駐車可能条件
4.駐車推奨条件
制御装置10は、以下の条件「1.駐車枠線の検出条件」を満たす線を駐車枠線として検出する。本例では(1)~(6)の全部を満たす線図を、駐車枠線として検出する。条件(1)~(6)の何れか一つ以上を選択して適用してもよい。
(1)エッジの輝度差が所定閾値以上である。
(2)線の角度が所定閾値以内である。
(3)線の幅が所定閾値以内である。
(4)連続性のあるエッジ(線)の長さが所定値以上である。
(5)線間のノイズの輝度差が所定閾値未満である。
(6)上記(1)~(5)の評価値に基づいて算出された、駐車枠線としての確からしさを示す尤度(likelihood)が所定値以上である。
(1)駐車枠線の候補として抽出された線の中に、予め設定した第1閾値以上(例えば、実距離15[m]に対応する長さ)の長さを有する線が含まれていない。
(2)駐車枠線の候補として抽出された線の中に、予め設定した第2閾値以下(例えば、実距離3~5[m]に対応する長さ以下)であり、略平行な一対の線の中に予め設定した第3閾値以上(例えば、実距離7[m]に対応する長さ以上)の長さを有する線が含まれていないこと。
(3)駐車枠線の候補として抽出された線の中に、予め設定した第3閾値以下(例えば、実距離2.5~5[m]に対応する長さ以下)であり、略平行な一対の線の中に予め設定した第4閾値以上(例えば、実距離15[m]に対応する長さ以上)の長さを有する線の組が含まれていないこと。
駐車スペースの位置情報は、ナビゲーションシステムの地図情報に含めて記憶してもよい。駐車スペースの位置情報は、外部のサーバ又は施設(駐車場)の管理装置から取得してもよい。
本実施形態の「駐車可能条件」は、自車両Vの駐車が可能な駐車スペースを抽出する観点から定義される。
(1)自車両Vから所定距離範囲である。
(2)駐車スペースが空車である。
(3)障害物が無い。
本実施形態の「駐車推奨条件」は、駐車に要するコスト(「駐車所要コスト」ともいう。以下同じ。)が低い駐車スペースを抽出する観点から定義される。
(1)駐車に要する切り返し回数が所定回数以下である。
(2)駐車に要する時間が所定時間以下である。
(3)駐車に要する移動距離が所定距離以下である。
制御装置10は、自車両Vの車速に基づいて、注視点距離を算出する。注視点距離は、自車両Vの位置から自車両Vのドライバが注視する位置(注視点)までの距離に対応する。制御装置10は、ドライバが注視する位置に応じた駐車スペースを推奨駐車スペースとして検出する。
また、自車両Vに搭乗することなく、外部から自車両Vに目標駐車スペースMoの設定指令、駐車処理開始指令、駐車中断・中止指令などを送信して駐車を行うリモートコントロールによる駐車処理も可能である。
図7に、駐車支援情報の表示方法の一例を示す。
図7に示す表示例では、ディスプレイ21の画面の左側に俯瞰画像(トップビュー)21aを表示し、ディスプレイ21の画面の右側に監視画像(ノーマルビュー)21bを表示し、監視画像21bの上には、メッセージ21cを表示する。俯瞰画像21aには選択可能な駐車スペースを示す画像(駐車スペースの境界線)が含まれている。また、俯瞰画像21aの中央には、自車両Vの位置を示す自車両Vのアイコンが表示されている。監視画像21bは、自車両Vの操作状態に応じて異なるカメラ1a~1dの撮像画像を表示できる。図7に示す監視画像21bでは、自車両Vのフロントグリル部にカメラ1aの撮像画像が表示されている。自車両Vが後退する際には、リアバンパ近傍に配置されたカメラ1dの撮像画像を表示してもよい。また、本例では、俯瞰画像21aと監視画像21bとを同時にディスプレイ21に示すが、俯瞰画像21aのみをディスプレイ21に示してもよいし、監視画像21bのみをディスプレイ21に示してもよい。
また、本実施形態の駐車支援装置100は、推奨駐車スペースを第1表示態様で表示する。推奨駐車スペースは、駐車可能スペースのうち、自車両Vの駐車処理に要する時間が短い駐車スペースである。現在位置から遠い、何度も切り返し操作が必要であるといった駐車処理に時間(駐車所要コスト)がかかる駐車スペースは、駐車支援装置100を利用するドライバにとって便利とはいえない。このような観点から、本実施形態では、自車両Vの駐車処理に要する時間が短い駐車スペースを推奨駐車スペースとして抽出する。駐車支援装置100は、推奨駐車スペースに矩形の推奨マークMrを示す。
しかし、カメラ1a~1dの配置位置、撮像環境、画像処理装置2の処理方法、測距装置3の配置位置、立体物の大きさや位置によっては、実際には使用できるのに使用可能な駐車スペースとして検出できない場合がある。
その場合に、駐車支援装置100がドライバに提示した使用可能な駐車スペース(上述した駐車可能スペース、推奨駐車スペースを含む。以下同じ。)を指定せずに、それ以外の駐車スペースを指定することがある。ドライバは、自身の視覚/聴覚により使用可能な駐車スペースを確認できるからである。
ドライバは、駐車支援装置100が使用できない駐車スペースとして提示した駐車スペース(駐車支援装置100が使用可能として提示した駐車スペース以外の駐車スペース)を目標駐車スペースとして選択入力をする。
駐車支援装置100の処理が、自己(装置)の検出結果に拘束されると、ドライバの選択入力に従う処理を実行することができない。
ドライバが、自ら判断した目標駐車スペースを選択入力したにもかかわらず、それに従って駐車支援装置100が動作しないことをドライバは、煩わしく感じるという問題がある。
本実施形態の制御装置10は、第1駐車スペース(駐車可能スペース、推奨駐車スペース)を再検出する処理において、第1駐車スペースが検出されやすくなるように、駐車条件の少なくとも一部を変更する。制御装置10は、前回、駐車可能な駐車スペースとして検出できなかった第2駐車スペースについて、異なる駐車条件で、駐車スペースを再検出する。
駐車条件の変更に関する第1の手法として、制御装置10は、上述した「駐車条件」の項目を減少させる。駐車条件として定義される項目を少なくすることにより、第1駐車スペースが検出されやすくなるので、最初の検出処理では検出できなかった第1駐車スペースを検出することができる。
1.駐車枠線の検出について
以下のように閾値を変更することにより、駐車枠線として検出されやすくする。
(1)エッジの輝度差の閾値を小さくする。
(2)線の角度の閾値の範囲を拡大する。
(3)線の幅の閾値の範囲を拡大する。
(4)連続性のあるエッジ(線)の長さの閾値を低くする。
(5)線間のノイズの輝度差の閾値を低くする。
(6)上記(1)~(5)の評価値に基づいて算出された、駐車枠線としての確からしさを示す尤度(likelihood)の閾値を低くする。
2.駐車スペースの検出について
以下のように閾値を変更することにより、駐車スペースであると判断しやすくする。
(1)駐車枠線の候補から除外される線の長さの閾値を高くする。
(2)駐車枠線の候補とする線の長さの閾値(上限/下限)を変更する。
3.駐車可否の判断について
以下のように閾値を変更することにより、駐車可能であると判断しやすくする。
(1)判断対象領域を拡大する。
(2)駐車スペースが空車であると判断する閾値を下げる(空車であると判断しやすくする)。
(3)障害物が存在すると判断する閾値を下げる(障害物が無いと判断しやすくする)。
以下のように閾値を変更することにより、推奨しやすくする。
(1)駐車に要する切り返し回数の閾値を下げる。
(2)駐車に要する時間の閾値を下げる。
(3)駐車に要する移動距離の閾値を下げる。
このように、第1駐車スペース(駐車可能スペース、推奨駐車スペース)を検出する駐車条件の閾値を調整する。これにより、撮像環境の外乱の影響、障害物の位置、大きさなどの影響、撮像範囲の影響などによって、駐車可能な駐車スペースとして検出できなかった第2駐車スペースについて、駐車スペースを使用できるか否かを再検出できる。
制御装置10は、図2に示すステップ106においてドライバが入力した目標駐車スペースが、提示した駐車スペース以外のものである場合にはステップ3に進む。ステップS3において、制御装置10は、駐車条件の基準を下げて(基準を緩めて)、その駐車条件に基づいて、駐車スペースを検出できたか否かを判断する。再検出において駐車スペースが検出できた場合には、ステップS4に進んで再検出の結果を表示する。表示の態様は限定されない。また、表示をせずにステップS5に進んでもよい。
制御装置10は、制御装置10は、駐車条件の基準を下げて(基準を緩めて)、その駐車条件に基づいて、駐車スペースを検出できたか否かを判断し(ステップS3)、その再検出の結果を表示する(ステップS4)。
第4の制御例は、図8~10に示すステップS3に示す再検出処理から開始する。図11のステップS12において、制御装置10は、図2に示すステップ106においてドライバが入力した目標駐車スペースが、提示した駐車スペース以外のものである場合に、再検出の処理を行う。この再検出の処理は、ドライバが指定した目標駐車スペースMoに向かって移動しているときに実行してもよいし、目標駐車スペースMoの所定距離以内に接近してから実行してもよい。
この状況は、自車両Vが実際に目標駐車スペースMoに近づいたとき、または自車両Vが目標駐車スペースMoに駐車を試みたときに、駐車支援装置100が駐車処理の実行が困難であると判断した場面である。この種の場面の第1の例として、自車両Vが目標駐車スペースMoから離れていたために隠れた障害物を検知できなかったが、目標駐車スペースMoに近づいてみたところ、目標駐車スペースMo内又はその近傍に隠れた障害物を検出した場合である。第2の例として、自車両Vが目標駐車スペースMoから離れていたときには、駐車制御を実行できる(実行する)と判断していたが、目標駐車スペースMoに実際に近づいたとき、又は目標駐車スペースMoへの駐車制御を開始したところ、目標駐車スペースMoに駐車できないと判断する場合である。
具体的には、図4Aに示す駐車スペースPL8が目標駐車スペースとして選択された場合に、駐車スペースPL8が空であったため駐車制御の実行を決定したとする。その後、自車両Vが駐車スペースPL8に近づいた、又は駐車スペースPL8への駐車制御を実際に開始してみると、壁Wの存在により、駐車のための経路が導けないと判断した場合である。
特に、本実施形態の制御装置10は、駐車支援処理が、手動駐車モードであるか、自動駐車モードであるか、リモート駐車モードであるか、乗車駐車モードであるかなどの状況に応じた処理を実行する。以下、その処理を説明する。
「自動駐車モード」とは、ステアリング操作、ブレーキ/アクセル操作の何れも自車両Vのドライバは行わず、自車両Vの駐車支援装置100(連携する車載装置を含む)が全駐車処理を実行するモードである。
「自動駐車モード」は、ドライバが自車両Vに搭乗している場面と、ドライバが自車両Vに搭乗していない場面のいずれにおいても利用可能である。ドライバが自車両Vに搭乗していない場合の「リモート駐車モード」においては、先述した可搬の入力装置5を用いて、自車両Vの駐車支援装置100に指令を入力することにより、自車両Vの駐車操作をリモートコントロールすることができる。
(1)ドライバが乗車しやすい場所
(2)他車両、歩行者の動きを妨げない場所
(3)手動駐車モードによる駐車処理がしやすい場所
「ドライバが乗車しやすい場所」とは、以下の観点から求める。
(a)ドライバの現在位置からの距離が短いこと。ドライバの現在位置は、ドライバが携帯する入力装置5の位置に基づいて判断する。
(b)ドアの開閉が可能であること。運転席側のドアを開扉できるスペースを考慮して判断する。
「他車両、歩行者の動きを妨げない場所」とは、以下の観点から求める。
(a)他車両、歩行者が存在しないこと。
(b)他車両、歩行者の通行を妨げないこと。
「手動駐車モードによる駐車処理がしやすい場所」とは、以下の観点から求める。
(a)余裕のある駐車スペースから近いこと。
(b)隣接する駐車スペースが空であること。
(c)駐車スペース付近の操作領域(車両の駐車走行が可能な領域)が広いこと。
制御装置10は、上記(1)~(3)の全事項を満足する場所を切替位置として算出してもよいし、(1)~(3)の一つ以上の事項を満足する場所を切替位置として算出してもよい。
特に限定されないが、切替位置の算出例を示す。制御装置10は、目標駐車スペースMoに駐車できないと判断したときの自車両Vの位置から、ドライバが携帯する入力装置5の位置に至る経路を算出する。その経路上において、上記他車両、歩行者が存在しない/その通行を妨げない領域を検出する。制御装置10は、自車両Vが停車でき、運転席側のドアが開扉できる広さの領域を抽出する。各領域から入力装置5(すなわちドライバ)までの距離が近い順に優先順位を付す。優先順位の高い領域のうち、広めの駐車スペース、隣が空いている駐車スペースを優先的に抽出する。抽出された位置が切替位置となる。
ステップS25において、制御装置10は、手動駐車モードに切り替える切替位置を算出する。切替位置は、自車両Vの駐車支援処理の制御権を、ドライバに引き渡すために適した位置である。切替位置は、ステップS19において説明した手法により求めることができる。
100…駐車支援装置
10…制御装置
11…CPU
12…ROM
13…RAM
20…出力装置
21…ディスプレイ
1a~1d…車載カメラ
2…画像処理装置
3…測距装置
5…入力装置
30…車両コントローラ
40…駆動システム
50…操舵角センサ
60…車速センサ
V…自車両
Me…駐車可能スペース,駐車可能マーク
Mr…推奨駐車スペース,推奨マーク
Mo…目標駐車スペース
Claims (15)
- 制御装置を備える駐車支援装置において使用される、駐車支援情報の表示方法であって、
前記制御装置は、
予め定義された駐車条件を充足する駐車スペースを第1駐車スペースとして検出し、
前記第1駐車スペース以外の第2駐車スペースを選択する情報が入力された場合には、再度、予め定義された駐車条件を充足する駐車スペースを第1駐車スペースとして検出する駐車支援方法。 - 前記第1駐車スペースを再度検出する処理において、
選択する情報が入力された前記第2駐車スペースが予め定義された駐車条件を充足する場合に、前記2駐車スペースを第1駐車スペースとして検出する請求項1に記載の駐車支援方法。 - 前記第1駐車スペースを再度検出する処理において、
前記駐車スペースが検出されやすくなるように、前記駐車条件に含まれる条件の少なくとも一部を変更する請求項1又は2に記載の駐車支援方法。 - 前記第1駐車スペースを再度検出する処理において、
前記駐車スペースが検出されやすくなるように、前記駐車条件の閾値を変更する請求項1~3の何れか一項に記載の駐車支援方法。 - 前記第1駐車スペースを再度検出する処理において、
ドライバが選択した前記第2駐車スペース近傍の所定領域を再度検出する請求項1~4の何れか一項に記載の駐車支援方法。 - 前記駐車スペースの検出処理において、前記第2駐車スペースが駐車中又は前記第2駐車スペースに障害物が存在すると判断された場合には、
前記第1駐車スペースを再度検出する処理において、前記第2駐車スペースは空車である又は前記第2駐車スペースに障害物は存在しないと判断する請求項1~5の何れか一項に記載の駐車支援方法。 - 前記制御装置は、
前記第2駐車スペースが選択された場合には、自車両の移動中に、再度、検出処理を実行する請求項1~6の何れか一項に記載の駐車支援方法。 - 前記制御装置は、
前記第2駐車スペースが選択された場合には、当該選択された第2駐車スペースに自車両が接近したタイミングで、前記第1駐車スペースを再度検出する処理を実行する請求項1~7の何れか一項に記載の駐車支援方法。 - 前記制御装置は、
駐車可能な駐車可能スペースを検出し、
前記駐車可能スペースのうち、前記駐車条件に属する駐車推奨条件を充足する前記第1駐車スペースが推奨駐車スペースとして検出された後に、ドライバが前記第1駐車スペース以外の第2駐車スペースを選択した場合には、前記第1駐車スペースを再度検出する処理を実行する請求項1~8の何れか一項に記載の駐車支援方法。 - 前記駐車支援装置と信号の授受が可能な入力装置をさらに備え、
前記制御装置は、
前記入力装置を介して前記第2駐車スペースを目標駐車スペースとして設定し、前記第2駐車スペースの選択情報の入力が継続的に行われていると判断された場合には、前記目標駐車スペースへの駐車を支援する請求項1~9の何れか一項に記載の駐車支援方法。 - 前記駐車支援装置と信号の授受が可能な入力装置をさらに備え、
前記入力装置は、可搬であり、前記駐車支援装置と情報の授受が可能である請求項1~10の何れか一項に記載の駐車支援方法。 - 前記駐車支援装置と情報の授受が可能な入力装置をさらに備え、
前記入力装置が自車両の外に所在する場合において、
前記制御装置は、
前記再度の検出の結果、前記第1駐車スペースが前記駐車条件を充足しないと判断されたときには、前記入力装置の位置に基づいて判断された切替位置に前記自車両を移動させる請求項1~11の何れか一項に記載の駐車支援方法。 - 前記制御装置は、
前記再度の検出の結果、前記第2駐車スペースが前記駐車条件を充足しないと判断されたときには、
前記第2駐車スペースに手動で駐車するか否かの入力を乗員に要求する請求項1~12の何れか一項に記載の駐車支援方法。 - 前記制御装置は、
前記再度の検出の結果、前記第2駐車スペースが前記駐車条件を充足しないと判断されたときには、
選択可能な駐車スペースよりも自車両から遠くに位置する駐車スペースを、選択可能な駐車スペースとして提示する請求項1~13の何れか一項に記載の駐車支援方法。 - 制御装置を備える駐車支援装置であって、
前記制御装置は、
予め定義された駐車条件を充足する第1駐車スペースを検出し、
前記第1駐車スペース以外の第2駐車スペースを選択する情報が入力された場合には、再度、予め定義された駐車条件を充足する駐車スペースを第1駐車スペースとして検出する駐車支援装置。
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EP15906704.0A EP3367367B1 (en) | 2015-10-22 | 2015-10-22 | Parking support method and parking support device |
CN201580083972.4A CN108140319B (zh) | 2015-10-22 | 2015-10-22 | 停车辅助方法及停车辅助装置 |
KR1020187013828A KR102121396B1 (ko) | 2015-10-22 | 2015-10-22 | 주차 지원 방법 및 주차 지원 장치 |
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CA3002638C (en) | 2023-06-27 |
RU2703478C1 (ru) | 2019-10-17 |
EP3367367A4 (en) | 2018-11-14 |
KR102121396B1 (ko) | 2020-06-10 |
CN108140319A (zh) | 2018-06-08 |
US11027723B2 (en) | 2021-06-08 |
EP3367367A1 (en) | 2018-08-29 |
CA3002638A1 (en) | 2017-04-27 |
JPWO2017068698A1 (ja) | 2018-09-27 |
EP3367367B1 (en) | 2021-01-27 |
JP6617773B2 (ja) | 2019-12-11 |
CN108140319B (zh) | 2021-09-24 |
MY191966A (en) | 2022-07-21 |
MX2018004966A (es) | 2018-07-06 |
US20200062242A1 (en) | 2020-02-27 |
KR20180069883A (ko) | 2018-06-25 |
BR112018008073A2 (ja) | 2018-10-23 |
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