WO2017072941A1 - Parking assistance device and parking assistance method - Google Patents

Abstract

The purpose of the present invention is to provide a parking assistance device and a parking assistance method, with which it is possible to reduce the burden on a driver. The parking assistance device according to the present invention is provided with: a vehicle position detection unit that detects the position of the vehicle; a storage unit that stores parking control information including position information with regard to a parking initiation point where parking of the vehicle into a parking space is initiated, position information with regard to a parking completion point where parking is completed, and driving control information with regard to the control of the vehicle traveling from the parking initiation point to the parking completion point; a determination unit that determines whether or not the vehicle has approached the parking space, on the basis of the vehicle position detected by the vehicle position detection unit and the parking control information stored in the storage unit; and a control unit that, in the case when the determination unit has determined that the vehicle is approaching the parking space, controls the vehicle to automatically travel to the parking initiation point on the basis of the vehicle position detected by the vehicle position detection unit and the parking control information stored in the storage unit, and subsequently controls the vehicle to perform automatic parking from the parking initiation point to the parking completion point.

Description

Parking assistance device and parking assistance method

The present invention relates to a parking support device and a parking support method for supporting parking of a host vehicle in a parking space.

In recent years, with the advancement of parking assistance systems, it has become possible to perform parking operations with peace of mind even for beginners of driving or those unfamiliar with parking.

In the conventional driving support system, in order to detect a parking space (hereinafter referred to as a parking space) with an ultrasonic sensor or the like, it is necessary to travel so that the vehicle body crosses the parking space. Then, before automatically parking in the detected parking space (hereinafter referred to as automatic parking), it was necessary to manually drive according to the instructions of the parking support system to the automatic parking start point that the parking support system can tolerate. .

Conventionally, there is a technology that assists parking by storing information on manual parking in a parking space (hereinafter referred to as manual parking) and reproducing automatic parking based on information on manual parking at the next parking. (For example, refer to Patent Documents 1 and 2).

JP 2008-536734 A Special table 2013-530867 gazette

In a conventional parking support system, for example, even when parking frequently in a specific parking space such as a parking space at home, the parking space is detected every time parking is performed, and it is manually performed until the parking start position specified by the parking support system. It was necessary to run on. In Patent Documents 1 and 2, it is necessary to manually travel to a parking start position where automatic parking is started. Thus, the conventional parking assistance cannot be said to reduce the burden on the driver.

This invention was made in order to solve such a problem, and it aims at providing the parking assistance apparatus and parking assistance method which can reduce a driver | operator's burden.

In order to solve the above problems, a parking assist device according to the present invention includes a vehicle position detection unit that detects the current position of the vehicle as the vehicle position, and a parking start point where parking of the vehicle in the parking space starts. A storage unit that stores parking control information including position information of the vehicle, position information of a parking completion point that completes parking, and driving control information related to driving control of the host vehicle from the parking start point to the parking completion point; Based on the vehicle position detected by the position detection unit and the parking control information stored in the storage unit, a determination unit that determines whether or not the vehicle approaches the parking space, and the determination unit determines whether the vehicle is When it is determined that the vehicle is approaching the parking space, the vehicle is automatically detected up to the parking start point based on the vehicle position detected by the vehicle position detection unit and the parking control information stored in the storage unit. Control to travel and then And a control unit for controlling to automatically park to the parking completion point from the parking start point.

In addition, the parking support method according to the present invention detects the current position of the own vehicle as the own vehicle position, the position information of the parking start point where parking of the own vehicle in the parking space is started, and the parking completion point where the parking is completed. Stores parking control information including position information and driving control information related to driving control of the host vehicle from the parking start point to the parking completion point, and based on the detected host vehicle position and the stored parking control information. Determining whether or not the own vehicle has approached the parking space, and determining that the own vehicle is approaching the parking space, based on the detected own vehicle position and the stored parking control information Then, the vehicle is controlled to automatically travel to the parking start point, and then the vehicle is controlled to automatically park from the parking start point to the parking completion point.

According to the present invention, the parking assist device includes a vehicle position detection unit that detects the current position of the vehicle as the vehicle position, position information of a parking start point at which parking of the vehicle in the parking space, and parking. A storage unit that stores parking control information including position information of a completed parking completion point and driving control information related to driving control of the vehicle from the parking start point to the parking completion point, and detected by the vehicle position detection unit Based on the vehicle position and the parking control information stored in the storage unit, a determination unit that determines whether or not the vehicle approaches the parking space, and the vehicle approaches the parking space at the determination unit. If the vehicle position is determined, based on the vehicle position detected by the vehicle position detection unit and the parking control information stored in the storage unit, control the vehicle to automatically travel to the parking start point, Then park your car from the parking start point To provide a control unit for controlling to automatic parking until completion point, it is possible to reduce the burden on the driver.

In addition, the parking support method detects the current position of the host vehicle as the host vehicle position, position information of a parking start point where parking of the host vehicle in the parking space is started, position information of a parking completion point where parking is completed, and Storing parking control information including driving control information related to driving control of the vehicle from the parking start point to the parking completion point, and based on the detected vehicle position and the stored parking control information If the vehicle has approached the parking space, and it is determined that the vehicle is approaching the parking space, the vehicle is detected based on the detected vehicle position and the stored parking control information. Since the vehicle is controlled so as to automatically travel to the parking start point and then the vehicle is controlled to automatically park from the parking start point to the parking completion point, the burden on the driver can be reduced.

The objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description and the accompanying drawings.

It is a block diagram which shows an example of a structure of the parking assistance apparatus by embodiment of this invention. It is a block diagram which shows an example of the hardware constitutions of the parking assistance apparatus by embodiment of this invention. It is a flowchart which shows an example of operation | movement of the parking assistance apparatus in the case of automatically parking at the time of the first parking by embodiment of this invention. It is a flowchart which shows an example of operation | movement of the parking assistance apparatus in the case of manually parking at the time of the first parking by embodiment of this invention. It is a figure for demonstrating operation | movement of the parking assistance apparatus by embodiment of this invention. It is a flowchart which shows an example of operation | movement of the parking assistance apparatus at the time of the parking after the 2nd time by embodiment of this invention. It is a figure for demonstrating operation | movement of the parking assistance apparatus by embodiment of this invention. It is a flowchart which shows another example of operation | movement of the parking assistance apparatus at the time of the parking after the 2nd time by embodiment of this invention. It is a figure for demonstrating operation | movement of the parking assistance apparatus by embodiment of this invention. It is a block diagram which shows another example of a structure of the parking assistance apparatus by embodiment of this invention. It is a figure which shows an example of the display by embodiment of this invention. It is a figure for demonstrating operation | movement of the parking assistance apparatus by embodiment of this invention. It is a figure for demonstrating operation | movement of the parking assistance apparatus by embodiment of this invention. It is a figure for demonstrating operation | movement of the parking assistance apparatus by embodiment of this invention. It is a block diagram which shows an example of a structure of the parking assistance system by embodiment of this invention.

Embodiments of the present invention will be described below based on the drawings.

<Embodiment>
<Configuration>
The structure of the parking assistance apparatus by embodiment of this invention is demonstrated.

FIG. 1 is a block diagram showing an example of the configuration of the parking support apparatus according to the present embodiment.

As shown in FIG. 1, the parking assistance device 1 includes a surrounding information acquisition unit 2, a host vehicle position detection unit 3, a storage unit 4, a parking space determination unit 5, and an HMI (Human Machine Interface) interface unit 6. The travel drive system interface unit 7 and the overall control unit 8 are provided.

The peripheral information acquisition unit 2 is connected to the distance measuring device 10 and the imaging device 11, and acquires peripheral information indicating a surrounding environment including an object existing around the own vehicle from each of the distance measuring device 10 and the imaging device 11. To do.

The distance measuring device 10 measures the distance between the host vehicle and an object existing around the host vehicle. The distance data measured by the distance measuring device 10 is acquired by the peripheral information acquisition unit 2 as peripheral information. Examples of the distance measuring device 10 include an ultrasonic sensor, a laser radar, and a millimeter wave radar.

The imaging device 11 images the surrounding environment of the vehicle. Image data photographed by the imaging device is acquired by the peripheral information acquisition unit 2 as peripheral information. An example of the imaging device 11 is a camera.

The own vehicle position detection unit 3 is connected to a GNSS (Global Navigation Satellite System) antenna 9 and detects the current position of the own vehicle as the own vehicle position based on position information acquired via the GNSS antenna 9.

The memory | storage part 4 is the positional information on the parking start point which starts parking of the own vehicle to a parking space, the positional information on the parking completion point which completes parking, and the driving control of the own vehicle from a parking start point to a parking completion point The parking control information including the driving control information on the vehicle is stored (details will be described later). In addition, the memory | storage part 4 may memorize | store not only parking control information but other information other than parking control information, such as the periphery information which the periphery information acquisition part 2 acquired, for example. The storage unit 4 includes a storage device such as a hard disk (HDD: Hard Disk Drive) or a semiconductor memory. In FIG. 1, the storage unit 4 is provided inside the parking assistance device 1, but may be provided outside the parking assistance device 1.

Based on the vehicle position detected by the vehicle position detection unit 3 and the parking control information stored in the storage unit 4, the parking space determination unit 5 has approached the parking space where the vehicle has been parked in the past. Judge whether or not.

The HMI interface unit 6 is connected to the operation device 12, the sound device 13, and the display device 14, and has an interface function between the parking support device 1 and each of the operation device 12, the sound device 13, and the display device 14. have.

The operating device 12 receives an input of the driver's intention. Examples of the operation device 12 include a button installed on the vehicle, a lever installed beside the steering wheel, a touch panel, a remote operation switch, and the like. Here, the remote control switch includes a remote control switch that can be taken out of the vehicle, and a controller switch provided separately from the display device 14.

The acoustic device 13 notifies the driver of sound effects and voices. As the acoustic device 13, a speaker is mentioned, for example.

The display device 14 displays various information to the driver. Examples of the display device 14 include an LCD (Liquid Crystal Display), a HUD (Head-Up Display), and an LED (Light Emitting Diode).

The travel drive system interface unit 7 is connected to the travel drive system device 15 and the driving operation input device 16, and an interface function between the parking assist device 1 and each of the travel drive system device 15 and the driving operation input device 16. have. Specifically, a travel drive system control signal for controlling the travel drive system device 15 input from the overall control unit 8 is output to the travel drive system device 15, and the travel drive system state input from the travel drive system device 15 The driving drive system state information, which is information, is output to the overall control unit 8, and the driving operation information by the driver input from the driving operation input device 16 is output to the overall control unit 8.

The traveling drive system device 15 drives the vehicle according to the traveling drive system control signal input from the overall control unit 8 or the driving operation information input from the driving operation input device 16. The traveling drive system device 15 is a device related to traveling of the vehicle, such as an engine, a motor, a transmission, and a tire.

The driving operation input device 16 receives an operation by the driver. The driving operation input device 16 is a device that performs a driving operation of the vehicle, such as a steering wheel, a brake, and an accelerator.

The overall control unit 8 provides parking assistance for the host vehicle by controlling the entire parking assistance device 1.

FIG. 2 is a block diagram illustrating an example of a hardware configuration of the parking assistance device 1.

The functions of the peripheral information acquisition unit 2, the vehicle position detection unit 3, the parking space determination unit 5, and the overall control unit 8 in the parking support device 1 are realized by a processing circuit. That is, the parking support device 1 acquires peripheral information, detects the position of the vehicle, determines whether or not the parking space that has been parked in the past is approached, and controls the entire parking support device 1. Is provided. The processing circuit is a processor 17 (also called a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, DSP (Digital Signal Processor)) that executes a program stored in the memory 18.

Each function of the peripheral information acquisition unit 2, the vehicle position detection unit 3, the parking space determination unit 5, and the overall control unit 8 in the parking support device 1 is realized by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 18. The processing circuit reads out and executes the program stored in the memory 18, thereby realizing the function of each unit. That is, the parking assistance apparatus 1 is a step of acquiring surrounding information, a step of detecting the vehicle position, a step of determining whether or not the parking space has been parked in the past, and a step of controlling the entire parking assistance apparatus 1. Is provided with a memory 18 for storing a program to be executed as a result. Moreover, it can be said that these programs make a computer perform the procedure or method of the periphery information acquisition part 2, the own vehicle position detection part 3, the parking space judgment part 5, and the whole control part 8. FIG. Here, the memory is non-volatile or volatile such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), etc. This includes a semiconductor memory, a magnetic disk, a flexible disk, an optical disk, and the like.

<Operation>
Operation | movement of the parking assistance apparatus 1 is demonstrated. The operation of the parking assist device 1 is roughly divided into two operations: an operation at the time of first parking in the parking space, and an operation at the time of the second and subsequent parking in the parking space. Hereinafter, the operation at the first parking and the operation at the second and subsequent parking will be described in order.

<Operation at the time of the first parking>
The operation at the time of the first parking is divided into a case where automatic parking is performed in the parking space and a case where manual parking is performed in the parking space. Hereinafter, the case of automatic parking (FIG. 3) and the case of manual parking (FIG. 4) will be described in order with reference to FIG. In FIG. 5, it is assumed that the parking space 20 is surrounded by a wall 19.

FIG. 3 is a flowchart showing an example of the operation of the parking support apparatus 1 when automatically parking at the first parking.

In step S101, the driver presses the automatic parking button provided on the operation device 12 at the point A. At this time, the overall control unit 8 stores the position information of the point A where the automatic parking button is pressed in the storage unit 4. Specifically, the overall control unit 8 acquires the own vehicle position of the point A from the own vehicle position detection unit 3, and stores the acquired own vehicle position in the storage unit 4 as the position information of the point A.

In step S102, the overall control unit 8 determines whether the parking preparation condition for the parking space 20 is satisfied. Specifically, the overall control unit 8 determines the vehicle speed based on the vehicle speed information included in the travel drive system state information input from the travel drive system device 15 via the travel drive system interface unit 7. Is less than a predetermined speed (for example, 10 km / h), it is determined that the parking preparation condition is satisfied. When the parking preparation conditions are satisfied, the process proceeds to step S103.

In step S103, the overall control unit 8 detects the parking space 20 while the driver is traveling at a low speed by manual driving so that the driver crosses the front of the parking space 20 from the point A. Specifically, the overall control unit 8 detects the parking space 20 based on the distance data between the vehicle and the wall 19 measured by the distance measuring device 10. Note that the overall control unit 8 may detect the parking space 20 based on image data captured by the imaging device 11, or may detect the parking space 20 based on distance data and image data.

In step S104, the overall control unit 8 calculates an automatic parking start point (point B) for starting automatic parking in the detected parking space 20, and guides it to the automatic parking start point. Specifically, the overall control unit 8 controls the display device 14 to display an image indicating guidance to the automatic parking start point, or outputs sound indicating guidance to the automatic parking start point from the acoustic device 13. Control to do. The driver manually drives the vehicle to the automatic parking start point according to guidance by the display device 14 or the audio device 13, and stops the vehicle at the automatic parking start point. In addition, you may guide to the automatic parking start point using both the acoustic device 13 and the display device 14.

In step S105, the overall control unit 8 determines whether or not to start automatic parking in the parking space 20. Specifically, the overall control unit 8 controls the display device 14 to display an image that allows selection of whether or not to start automatic parking in the parking space 20. Then, the overall control unit 8 determines that automatic parking is started when the driver selects to start automatic parking via the operation device 12, and starts automatic parking when the driver selects not to start automatic parking. Judge not to. When the automatic parking is started, the process proceeds to step S106. On the other hand, when not starting automatic parking, it transfers to step S101.

In step S106, the overall control unit 8 stores the position information of the automatic parking start point in the storage unit 4. Specifically, the overall control unit 8 acquires the own vehicle position of the automatic parking start point from the own vehicle position detection unit 3, and stores the acquired own vehicle position in the storage unit 4 as position information of the automatic parking start point. .

In step S107, the overall control unit 8 controls the travel drive system device 15 to perform automatic parking from the automatic parking start point to the parking space 20. Specifically, the overall control unit 8 performs automatic parking in the parking space 20 by controlling the travel drive system device 15 based on the peripheral information acquired by the peripheral information acquiring unit 2.

In step S108, the overall control unit 8 stores the automatic driving control information in the storage unit 4 while the automatic parking from the automatic parking start point to the parking space 20 is performed. Specifically, the overall control unit 8 stores in the storage unit 4 a driving drive system control signal that controls the driving system 15 when performing automatic parking from the automatic parking start point to the parking space 20 as automatic driving control information. Remember. Here, the automatic driving control information includes information related to driving of the own vehicle such as information related to accelerator, information related to brake, information related to speed, information related to transmission, and information related to steering angle.

Note that a route from the automatic parking start point to the parking space 20 may be included in the automatic driving control information. The route from the automatic parking start point to the parking space 20 can be obtained based on the own vehicle position acquired by the own vehicle position detection unit 3.

In step S109, the overall control unit 8 determines whether or not automatic parking in the parking space 20 has been completed. Specifically, the overall control unit 8 determines that the automatic parking is completed when the own vehicle stops in the parking space 20. When the automatic parking in the parking space 20 is completed, the process proceeds to step S110. On the other hand, when the automatic parking to the parking space 20 is not completed, the process proceeds to step S107.

In step S110, the overall control unit 8 stores in the storage unit 4 position information of an automatic parking completion point (point C), which is a point where automatic parking is completed. Specifically, the overall control unit 8 acquires the own vehicle position of the automatic parking completion point from the own vehicle position detection unit 3, and stores the acquired own vehicle position in the storage unit 4 as position information of the automatic parking completion point. .

In step S111, the overall control unit 8 determines whether to store the parking control information in the storage unit 4. Here, the parking control information is stored in the storage unit 4 in step S106, the position information of the automatic parking start point stored in the storage unit 4, the automatic driving control information stored in the storage unit 4 in step S108, and the storage unit 4 in step S110. And the location information of the automatic parking completion point.

Specifically, the overall control unit 8 controls the display device 14 to display an image that can be selected as to whether or not to store the parking control information in the storage unit 4. Then, the overall control unit 8 determines that the parking control information is stored when the driver selects to store the parking control information via the operation device 12, and parks when the driver selects not to store the parking control information. It is determined that the control information is not stored. When storing the parking control information, the process proceeds to step S112. On the other hand, when parking control information is not memorize | stored, it transfers to step S113.

In step S112, the overall control unit 8 stores the parking control information in the storage unit 4. That is, the position information of the automatic parking start point stored in the storage unit 4 in step S106, the automatic driving control information stored in the storage unit 4 in step S108, and the position of the automatic parking completion point stored in the storage unit 4 in step S110. The information is stored in the storage unit 4 as it is.

In step S113, the overall control unit 8 deletes the parking control information from the storage unit 4. That is, the position information of the automatic parking start point stored in the storage unit 4 in step S106, the automatic driving control information stored in the storage unit 4 in step S108, and the position of the automatic parking completion point stored in the storage unit 4 in step S110. Information is deleted from the storage unit 4.

FIG. 4 is a flowchart showing an example of the operation of the parking support apparatus 1 when manually parking at the first parking.

In step S201, the overall control unit 8 determines whether or not the own vehicle has stopped. Specifically, the overall control unit 8 determines the vehicle speed based on the vehicle speed information included in the travel drive system state information input from the travel drive system device 15 via the travel drive system interface unit 7. Is 0 km / h, it is determined that the vehicle is stopped. At this time, the vehicle stops at the point B. When the own vehicle is stopped, the process proceeds to step S202.

In step S <b> 202, the overall control unit 8 controls the display device 14 to display an image that can be selected as to whether or not to store information related to manual parking in the parking space 20. The display device 14 displays an image capable of selecting whether or not to store information related to manual parking in the parking space 20.

In step S203, the overall control unit 8 determines whether or not to store information related to manual parking in the parking space 20. Specifically, the overall control unit 8 determines that information related to manual parking is stored when the driver selects to store information related to manual parking via the operation device 12, and the driver stores information related to manual parking. If not selected, it is determined that information on manual parking is not stored. When storing information relating to manual parking, the process proceeds to step S204. On the other hand, when the information regarding manual parking is not memorized, it shifts to Step S201.

In step S204, the overall control unit 8 stores the position information of the manual parking start point (point B) at which manual parking in the parking space 20 is started in the storage unit 4. Specifically, the overall control unit 8 acquires the own vehicle position of the manual parking start point from the own vehicle position detection unit 3, and stores the acquired own vehicle position in the storage unit 4 as position information of the manual parking start point. .

In step S205, the driver manually parks the parking space 20 from the manual parking start point. Specifically, the driver performs manual parking in the parking space 20 by operating the driving operation input device 16 and controlling the traveling drive system device 15.

In step S206, the overall control unit 8 stores the manual operation control information in the storage unit 4 while the manual parking from the manual parking start point to the parking space 20 is performed. Specifically, the overall control unit 8 acquires travel drive system state information from the travel drive system device 15 via the travel drive system interface unit 7 while manual parking is performed, and the acquired travel drive system state is acquired. The information is stored in the storage unit 4 as manual operation control information. Here, the manual driving control information includes information related to driving of the own vehicle such as information related to the accelerator, information related to the brake, information related to the speed, information related to the transmission, and information related to the steering angle, like the automatic driving control information.

Note that the route from the manual parking start point to the parking space 20 may be included in the manual operation control information. The route from the manual parking start point to the parking space 20 can be obtained based on the own vehicle position acquired by the own vehicle position detection unit 3.

In step S207, the overall control unit 8 determines whether manual parking in the parking space 20 is completed. Specifically, the overall control unit 8 determines that the manual parking is completed when the own vehicle stops in the parking space 20. When the manual parking to the parking space 20 is completed, the process proceeds to step S208. On the other hand, when the manual parking to the parking space 20 is not completed, it transfers to step S205.

In step S208, the overall control unit 8 stores in the storage unit 4 position information of a manual parking completion point (point C) that is a point where manual parking is completed. Specifically, the overall control unit 8 acquires the own vehicle position of the manual parking completion point from the own vehicle position detection unit 3, and stores the acquired own vehicle position in the storage unit 4 as position information of the manual parking completion point. .

In step S209, the overall control unit 8 determines whether to store the parking control information in the storage unit 4. Here, the parking control information is stored in the storage unit 4 in step S208, the position information of the manual parking start point stored in the storage unit 4 in step S204, the manual driving control information stored in the storage unit 4 in step S206. And manual parking completion point location information.

Specifically, the overall control unit 8 controls the display device 14 to display an image that can be selected as to whether or not to store the parking control information in the storage unit 4. Then, the overall control unit 8 determines that the parking control information is stored when the driver selects to store the parking control information via the operation device 12, and parks when the driver selects not to store the parking control information. It is determined that the control information is not stored. When storing the parking control information, the process proceeds to step S210. On the other hand, when parking control information is not memorize | stored, it transfers to step S211.

In step S210, the overall control unit 8 stores the parking control information in the storage unit 4. That is, the position information of the manual parking start point stored in the storage unit 4 in step S204, the manual driving control information stored in the storage unit 4 in step S206, and the position of the manual parking completion point stored in the storage unit 4 in step S208 The information is stored in the storage unit 4 as it is.

In step S211, the overall control unit 8 deletes the parking control information from the storage unit 4. That is, the position information of the manual parking start point stored in the storage unit 4 in step S204, the manual driving control information stored in the storage unit 4 in step S206, and the position of the manual parking completion point stored in the storage unit 4 in step S208 Information is deleted from the storage unit 4.

<Operation at the time of parking after the second>
FIG. 6 is a flowchart illustrating an example of the operation of the parking assistance device 1 during the second and subsequent parking. FIG. 7 is a diagram for explaining the operation shown in FIG. In FIG. 7, it is assumed that the parking space 20 is surrounded by a wall 19.

In step S301, the overall control unit 8 determines whether or not a start condition for extended automatic parking in the parking space 20 is satisfied. Specifically, the overall control unit 8 includes the own vehicle position (point A ′) acquired by the parking space determination unit 5 from the own vehicle position detection unit 3 and the parking start point (point B) stored in the storage unit 4 or parking. If it is determined that the completion point (point C) is approaching (for example, 5 m) and the speed of the own vehicle is equal to or lower than a predetermined speed (for example, 10 km / h), the start condition of extended automatic parking is satisfied Judge that When the start conditions for extended automatic parking in the parking space 20 are satisfied, the process proceeds to step S302.

Here, extended automatic parking automatically travels from point A ′ to point B (hereinafter referred to as “automatic travel”), and then from point B to point C based on the parking control information stored in the storage unit 4. This refers to performing automatic parking (hereinafter referred to as regeneration automatic parking) in (parking space 20). Hereinafter, the parking start point will be described as including the automatic parking start point described with reference to FIG. 3 and the manual parking start point described with reference to FIG. 4. The parking completion point will be described as including the automatic parking completion point described in FIG. 3 and the manual parking completion point described in FIG. The operation control information will be described as including the automatic operation control information described in FIG. 3 and the manual operation control information described in FIG.

In step S302, the overall control unit 8 controls the display device 14 to display an image that can be selected as to whether or not to start extended automatic parking. The display device 14 displays an image that allows selection of whether or not to start extended automatic parking.

In step S303, the overall control unit 8 determines whether or not the extended automatic parking start button has been pressed by the driver. Specifically, the overall control unit 8 determines that the extended automatic parking start button has been pressed by detecting that the driver has pressed the extended automatic parking start button provided in the operation device 12. When the extended automatic parking start button is pressed, the process proceeds to step S304. On the other hand, when the extended automatic parking start button is not pressed, the process proceeds to step S301.

In step S304, the overall control unit 8 controls the travel drive system 15 to perform automatic travel from the point A 'to the parking start point (point B). Specifically, the overall control unit 8 includes the peripheral information acquired by the peripheral information acquisition unit 2, the own vehicle position detected by the own vehicle position detection unit 3, and the parking control information stored in the storage unit 4 (parking By controlling the travel drive system 15 based on the position information of the start point, automatic travel to the parking start point is performed.

In step S305, the overall control unit 8 controls the travel drive system device 15 to perform regenerative automatic parking from the parking start point (point B) to the parking completion point (point C). Specifically, the overall control unit 8 detects the vehicle position detected by the vehicle position detection unit 3 and the parking control information stored in the storage unit 4 (position information of parking start point, position information of parking completion point). , Automatic driving parking in the parking space 20 is performed by controlling the driving system 15 based on the driving control information.

FIG. 8 is a flowchart showing another example of the operation of the parking assistance apparatus 1 during the second and subsequent parking. FIG. 9 is a diagram for explaining the operation shown in FIG. In FIG. 9, it is assumed that the parking space 20 is surrounded by a wall 19. Also, Steps S401 to S404 in FIG. 8 correspond to Steps S301 to S304 in FIG.

In step S405, the overall control unit 8 determines whether an obstacle is detected during automatic traveling from the point A 'to the parking start point. Specifically, the overall control unit 8 determines based on the peripheral information acquired by the peripheral information acquisition unit 2 whether an obstacle that prevents automatic travel from the point A ′ to the parking start point is detected. If no obstacle is detected, the process proceeds to step S406, and regenerative automatic parking is performed in the parking space 20 as in step S305 in FIG. 6 (see FIG. 7). On the other hand, when the obstacle 21 is detected as shown in FIG. 9, the process proceeds to step S407.

In step S407, the overall control unit 8 recalculates the parking start point (point B ') and the parking completion point (point C') in consideration of the obstacle 21. Then, the overall control unit 8 controls the traveling drive system 15 so as to perform automatic traveling to the recalculated parking start point. Specifically, the overall control unit 8 controls the traveling drive system device 15 based on the surrounding information acquired by the surrounding information acquisition unit 2 and the own vehicle position detected by the own vehicle position detection unit 3. Then, it automatically runs to the recalculated parking start point. The recalculated position information of the parking start point and the parking completion point is stored in the storage unit 4.

In step S408, the overall control unit 8 controls the traveling drive system 15 so as to perform automatic parking from the recalculated parking start point (point B ') to the recalculated parking completion point (point C'). Specifically, the overall control unit 8 controls the traveling drive system device 15 based on the surrounding information acquired by the surrounding information acquisition unit 2 and the own vehicle position detected by the own vehicle position detection unit 3. Carry out automatic parking at the recalculated parking completion point. The automatic driving information related to automatic parking is stored in the storage unit 4.

In step S409, the overall control unit 8 determines whether to store the parking control information in the storage unit 4. Here, the parking control information includes each position information of the recalculated parking start point and parking completion point stored in the storage unit 4 in step S407, and automatic driving control information stored in the storage unit 4 in step S408.

Specifically, the overall control unit 8 controls the display device 14 to display an image that can be selected as to whether or not to store the parking control information in the storage unit 4. Then, the overall control unit 8 determines that the parking control information is stored when the driver selects to store the parking control information via the operation device 12, and parks when the driver selects not to store the parking control information. It is determined that the control information is not stored. When storing the parking control information, the process proceeds to step S410. On the other hand, when parking control information is not memorize | stored, it transfers to step S411.

In step S410, the overall control unit 8 stores the parking control information in the storage unit 4. That is, the recalculated position information of the parking start point and the parking completion point stored in the storage unit 4 in step S407 and the automatic driving control information stored in the storage unit 4 in step S408 are stored in the storage unit 4 as they are. The

In step S411, the overall control unit 8 deletes the parking control information from the storage unit 4. That is, the recalculated position information of the parking start point and the parking completion point stored in the storage unit 4 in step S407 and the automatic driving control information stored in the storage unit 4 in step S408 are deleted from the storage unit 4. .

From the above, according to the present embodiment, it is possible to reduce the burden on the driver during the second and subsequent parking in the same parking space.

<Modification>
Next, modified examples (modified examples 1 to 15) of the parking assistance apparatus 1 will be described.

<Modification 1>
Although the case where the parking space 20 is surrounded by the wall 19 has been described above, the present invention is not limited to this. For example, the parking space 20 may be surrounded by a white line. In this case, the overall control unit 8 can detect the parking space 20 based on the image data captured by the imaging device 11 and obtain the distance between the vehicle and the white line.

<Modification 2>
In the above description, the case where the parking control information when the automatic parking or the manual parking is performed in the parking space 20 is stored in the storage unit 4 at the time of the first parking is described. However, the automatic parking is performed in the parking space at the second and subsequent parkings. Alternatively, the parking control information when manual parking is performed may be stored in the storage unit 4. In this case, the memory | storage part 4 may memorize | store several parking control information about the same parking space 20, and may memorize | store only the newest parking control information.

<Modification 3>
In step S301 of FIG. 6 and step S401 of FIG. 8, the parking space determination unit 5 uses the own vehicle position (point A ′) acquired from the own vehicle position detection unit 3 and the parking start point ( Although the case where it was determined whether the own vehicle is approaching the parking space 20 based on the point B) or the parking completion point (point C) has been described, the present invention is not limited to this.

For example, when the automatic parking is performed in the parking space 20 at the time of the first parking (see FIG. 3), the parking space determination unit 5 determines the point where the automatic parking button is pressed (point A) and the own vehicle position detection unit 3. Whether or not the vehicle is approaching the parking space 20 may be determined based on the vehicle position (point A ′) acquired from the above.

As shown in FIG. 10, when the parking assistance device 1 further includes a map information acquisition unit 22, the parking space determination unit 5 includes the map information acquired by the map information acquisition unit 22 and the own vehicle position detection unit 3. Whether or not the own vehicle is approaching the parking space 20 may be determined based on the own vehicle position acquired from the above. Here, the map information acquisition unit 22 is configured by a storage device such as a hard disk (HDD: Hard Disk Drive) or a semiconductor memory, for example, and acquires and stores the map information. In addition, the map information acquisition part 22 may acquire map information from the outside.

The parking space determination unit 5 may determine whether or not the own vehicle is approaching the parking space 20 based on the shape of an object existing around the parking space 20 or the scenery around the parking space 20. . In this case, the overall control unit 8 needs to store in the storage unit 4 peripheral information indicating the shape of an object existing around the parking space 20 or the scenery around the parking space 20 at the time of the first parking. is there. For example, in FIG. 3, the overall control unit 8 may store, in the storage unit 4, peripheral information at each point of the point where the automatic parking button is pressed, the automatic parking start point, and the automatic parking completion point. In FIG. 4, the overall control unit 8 may store peripheral information at each point of the manual parking start point and the manual parking completion point in the storage unit 4.

The parking space determination unit 5 may determine whether or not the vehicle is approaching the parking space 20 by arbitrarily combining the above determination materials. For example, the vehicle position detected by the vehicle position detection unit 3 can be supplemented using the peripheral information stored in the storage unit 4 during the first parking.

<Modification 4>
In step S304 of FIG. 6 and step S404 of FIG. 8, the parking start position, which is the automatic travel destination, may be recalculated and automatically traveled to the recalculated parking start position.

<Modification 5>
Although FIG. 6 and FIG. 8 demonstrated the case where extended automatic parking started when a driver | operator pressed down the extended automatic parking start button, it does not restrict to this. For example, extended automatic parking may be started automatically when extended automatic parking start conditions are satisfied. Alternatively, whether or not to start extended automatic parking is presented to the driver, and if there is no instruction from the driver even after a predetermined time has elapsed, automatic extended parking is automatically started. Also good.

<Modification 6>
When it is determined in step S301 of FIG. 6 and step S401 of FIG. 8 that the host vehicle is approaching the parking space 20, the driver is notified from at least one of the display device 14 and the acoustic device 13. May be.

<Modification 7>
When the display device 14 is a HUD, as shown in FIG. 11, the parking start point (point B) may be displayed superimposed on the HUD during the second and subsequent parking, and the route to the parking start point (Not shown) may be displayed superimposed on the HUD. Note that the parking start point and the route may be displayed superimposed on the HUD at the same time. Further, when the display device 14 is, for example, an LCD, at least one of the parking start point B and the route may be superimposed and displayed on the image captured by the imaging device 11.

<Modification 8>
For the same parking space 20, parking control information when manually parking from the parking start point to the parking completion point and parking control information when automatically parking from the parking start point to the parking completion point are stored in the storage unit 4. In the case of being parked, the display mode of the parking control information when manually parked and the parking control information when automatically parked may be different at the second and subsequent parking.

For example, in the second and subsequent parking, the route to the parking space 20 when manually parked and the route to the parking space 20 when automatically parked are displayed on the display device 14 separately. At this time, the driver may be able to select one of the routes.

Note that the timing for displaying each route on the display device 14 may be, for example, when it is determined that the host vehicle has approached the parking space 20 (step S301 in FIG. 6 and step S401 in FIG. 8). Or during automatic traveling (step S304 in FIG. 6 and step S404 in FIG. 8).

Moreover, although the above demonstrated the case where the parking control information at the time of manual parking and the control information at the time of automatic parking were memorize | stored in the memory | storage part 4, the same parking space irrespective of manual parking or automatic parking Even when a plurality of parking control information 20 is stored in the storage unit 4, the present invention is applicable.

<Modification 9>
In the case where a plurality of pieces of parking control information are stored in the storage unit 4 for the same parking space 20, the priority of the parking control information to be employed at the second and subsequent parkings may be determined in advance. For example, when the parking control information when manually parked and the parking control information when automatically parked are stored in the storage unit 4, the parking control information when automatically parked is preferentially adopted. Good.

<Modification 10>
In step S112 in FIG. 3 and step S210 in FIG. 4, how the parking control information is stored in the storage unit 4 may be determined in advance. For example, when other parking control information is already stored in the storage unit 4 for the same parking space, whether new parking control information is added and stored, or other parking control information is deleted from the storage unit 4 Then, it may be determined in advance whether new parking control information is stored (that is, new parking control information is overwritten and stored with respect to other parking control information).

Note that the driver may decide how to store the parking control information in the storage unit 4 in step S112 in FIG. 3 and step S210 in FIG.

<Modification 11>
When performing regenerative automatic parking during the second and subsequent parking, when the driver manually controls the travel drive system 15 during regenerative automatic parking (that is, switching to manual parking during regenerative automatic parking) A combination of regenerative automatic parking and manual parking is stored in the storage unit 4 as parking control information. The same applies to the case where automatic parking is performed during the first parking.

<Modification 12>
As shown in FIGS. 12 and 13, a plurality of routes (route 1, route 2) or a plurality of parking start points (point B 1, point B 2) are stored in the storage unit 4 for each surrounding environment of the parking space 20. In this case, the overall control unit 8 selects an appropriate route and parking start point. Specifically, the overall control unit 8 selects an appropriate route and parking start point based on the peripheral information acquired by the peripheral information acquisition unit 2. Thereafter, the overall control unit 8 controls the traveling drive system device 15 so that the host vehicle automatically travels from the point A ′ to the point B1 or the point B2.

<Modification 13>
At the time of the second parking, the overall control unit 8 may determine whether to move the vehicle to the parking start point automatically or manually according to the type of the parking space 20. Specifically, as shown in FIG. 10, when the parking support apparatus 1 includes the map information acquisition unit 22, whether the parking space is a specific parking space 20 that is frequently parked at home or the like using the map information. Whether it is a parking space 20 for general use such as a store or the like, and depending on the distinction (that is, the type of the parking space 20), the movement of the vehicle to the parking start point is set to automatic driving or manual driving. You may decide. For example, when the parking space 20 is for general public, the movement of the own vehicle to the parking start point may be manually operated.

<Modification 14>
In the above description, at the time of parking, the case where the vehicle is moved forward so as to cross the front of the parking space 20 and then moved backward to the parking space 20 is described, but the present invention is not limited thereto. For example, as shown in FIG. 14, the present embodiment can be applied even when the vehicle moves forward to the point D and then moves forward to the parking space 20 and parks. In the case of FIG. 14, the position information of the point D, the position information of the point E, and the driving control information from the point D to the point E are stored in the storage unit 4 at the time of the first parking. In the second and subsequent parking, if it is determined that the vehicle has approached the point D or the point E, the vehicle automatically travels to the point D, and then performs regenerative automatic parking from the point D to the point E. That is, extended automatic parking can be performed.

Although FIG. 14 shows a case where the vehicle moves forward and parks in the parking space 20, the above-described extended automatic parking can be performed even when the forward movement in FIG.

<Modification 15>
In the case where the operation device 12 is a remote control that can be taken out of the vehicle, the driver may perform extended automatic parking by operating an operation button or the like on the remote control after getting out of the vehicle at the second and subsequent parking. Good.

The parking assistance device described above is not only a vehicle navigation device, that is, a car navigation device, but also a PND (Portable Navigation Device) and a mobile communication terminal (for example, a mobile phone, a smartphone, a tablet terminal, etc.) that can be mounted on a vehicle. In addition, the present invention can also be applied to a navigation device constructed as a system by appropriately combining servers and the like or a device other than the navigation device. In this case, each function or each component of the parking assistance device is distributed and arranged in each function for constructing the system.

Specifically, as an example, the function of the parking assistance device can be arranged in the server. For example, as shown in FIG. 15, a GNSS antenna 9, a distance measuring device 10, an imaging device 11, an operation device 12, an acoustic device 13, a display device 14, a travel drive system device 15, and a driving operation input device 16 are provided on the vehicle side. The server 23 includes the peripheral information acquisition unit 2, the vehicle position detection unit 3, the storage unit 4, the parking space determination unit 5, the HMI interface unit 6, the travel drive system interface unit 7, and the overall control unit 8. A parking assistance system can be constructed. The same applies to the parking assistance apparatus shown in FIG.

Even in the case of the above configuration, the same effect as the above embodiment can be obtained.

Further, software (parking support method) for executing the operation in the above embodiment may be incorporated in, for example, a server or a mobile communication terminal.

Specifically, as an example, the parking support method described above detects the current position of the host vehicle as the host vehicle position, and completes the parking position information on the parking start point where parking of the host vehicle in the parking space is started. Parking control information including the position information of the parking completion point to be performed and the driving control information related to the driving control of the own vehicle from the parking start point to the parking completion point is stored, and the detected vehicle position and the stored parking control are stored. Based on the information, it is determined whether or not the own vehicle has approached the parking space, and when it is determined that the own vehicle has approached the parking space, the detected own vehicle position and the stored parking Based on the control information, the vehicle is controlled to automatically travel to the parking start point, and then the vehicle is controlled to automatically park from the parking start point to the parking completion point.

From the above, the same effect as in the above embodiment can be obtained by operating the software that executes the operation in the above embodiment in a server or a portable communication terminal.

In the present invention, the embodiments can be appropriately modified or omitted within the scope of the invention.

Although the present invention has been described in detail, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that countless variations that are not illustrated can be envisaged without departing from the scope of the present invention.

1 parking support device, 2 surrounding information acquisition unit, 3 vehicle position detection unit, 4 storage unit, 5 parking space judgment unit, 6 HMI interface unit, 7 travel drive system interface unit, 8 overall control unit, 9 GNSS antenna, 10 Distance measuring device, 11 imaging device, 12 operating device, 13 acoustic device, 14 display device, 15 driving system device, 16 driving operation input device, 17 processor, 18 memory, 19 wall, 20 parking space, 21 obstacle, 22 Map information acquisition unit, 23 servers.

Claims (11)

1. A vehicle position detector that detects the current position of the vehicle as the vehicle position;
   Position information of a parking start point for starting parking of the own vehicle in a parking space, position information of a parking completion point for completing the parking, and driving control of the own vehicle from the parking start point to the parking completion point A storage unit for storing parking control information including driving control information regarding
   A determination unit that determines whether the vehicle has approached the parking space based on the vehicle position detected by the vehicle position detection unit and the parking control information stored in the storage unit. When,
   When the determination unit determines that the own vehicle is approaching the parking space, the own vehicle position detected by the own vehicle position detection unit and the parking control information stored in the storage unit Based on the control unit to control the vehicle to automatically travel to the parking start point, and then control the vehicle to automatically park from the parking start point to the parking completion point,
   A parking assistance device comprising:
2. The parking support device according to claim 1, wherein the control unit controls the automatic traveling and the automatic parking when the speed of the host vehicle is equal to or lower than a predetermined speed.
3. The parking according to claim 1, wherein the determination unit determines that the own vehicle has approached the parking space when the own vehicle approaches the parking start point or the parking completion point. Support device.
4. The parking support device according to claim 1, wherein the control unit controls the host vehicle to automatically travel from a position determined to be approaching the parking space to the parking start point. .
5. The parking assistance device according to claim 1, further comprising a peripheral information acquisition unit that acquires peripheral information indicating a peripheral environment including an object existing around the host vehicle.
6. The control unit controls the automatic traveling and the automatic parking so as to avoid the object when the object that prevents the automatic traveling is detected based on the peripheral information acquired by the peripheral information acquiring unit. The parking support apparatus according to claim 5, wherein
7. The parking according to claim 1, wherein the control unit controls to display at least one of the parking start point and a route to the parking start point during the automatic traveling. Support device.
8. The storage unit, for the one parking space, the driving control information when automatically parked from the parking start point to the parking completion point, and the driving when manually parked from the parking start point to the parking completion point Memorize control information,
   2. The control unit according to claim 1, wherein the control unit performs control so as to display the driving control information when the automatic parking is performed and the driving control information when the manual parking is performed in a distinguishable manner. Parking assistance device.
9. The storage unit stores a plurality of the driving control information for one parking space,
   The parking control device according to claim 1, wherein the control unit displays each of the driving control information in a selectable manner.
10. The driving control information includes information obtained by automatic parking from the parking start point to the parking completion point, information obtained by manual parking from the parking start point to the parking completion point, and the parking from the parking start point. The parking assistance device according to claim 1, comprising at least one of information obtained by a combination of automatic parking up to a completion point and manual parking.
11. Detects the current position of the vehicle as the vehicle position,
    Position information of a parking start point for starting parking of the own vehicle in a parking space, position information of a parking completion point for completing the parking, and driving control of the own vehicle from the parking start point to the parking completion point Storing parking control information including driving control information about
    Based on the detected vehicle position and the stored parking control information, it is determined whether the vehicle has approached the parking space,
    When it is determined that the vehicle is approaching the parking space, the parking of the vehicle is started based on the detected vehicle position and the stored parking control information. A parking support method, wherein the vehicle is controlled to automatically travel to a point, and then the vehicle is controlled to automatically park from the parking start point to the parking completion point.

Images