WO2019058781A1

WO2019058781A1 - Parking assistance device

Info

Publication number: WO2019058781A1
Application number: PCT/JP2018/029173
Authority: WO
Inventors: 敬亮竹内; 敬一朗平川; 智大久保
Original assignee: 日立オートモティブシステムズ株式会社
Priority date: 2017-09-20
Filing date: 2018-08-03
Publication date: 2019-03-28
Also published as: JP6807464B2; JPWO2019058781A1

Abstract

The present invention improves convenience for a driver or a user when assisted parking or automatic parking of a vehicle is carried out. This parking assistance device has: an outside recognition unit 110 that recognizes the outside of a vehicle; a parking position information holding unit 121 that holds information about a plurality of parking candidate positions recognized by the outside recognition unit 110; a parking position determination unit 122 that determines a target parking position from among the parking candidate positions; and a route calculation unit 130 that calculates a parking route from the current position of the vehicle to the target parking position, wherein the route calculation unit 130 calculates a new parking route from the current position for each of the parking candidate positions, upon realization of a state matching a prescribed condition, while the vehicle is autonomously traveling to a first target parking position.

Description

Parking assistance device

The present invention relates to an apparatus for supporting parking of a car.

BACKGROUND In recent years, a parking assistance device that automates a parking operation is being put to practical use for the purpose of accident prevention and convenience improvement by reducing a driver's operation while parking.

Specifically, the driver sets the target parking position, or the parking support device detects and sets it, and the parking support device calculates the route from the current position to the target parking position, and instead of the driver, steering and acceleration / deceleration Automatically travel on the route.

In addition to this, there is also one having a function of automatically stopping or decelerating the vehicle when it detects an obstacle around the vehicle and determines that the vehicle may collide with the obstacle.

In the summary column of Patent Document 1, “The driver sets the target parking position and the parking method by the target parking position / parking method designation unit 40 from the image around the vehicle taken from the vehicle stopped in the vicinity of the target parking position. The target movement path generation unit 50 generates a target movement path of the vehicle from the current position to the specified target parking position, and the parking operation execution unit 70 moves the vehicle according to the generated target movement path. When the parking completion determination unit 80 determines that the movement of the vehicle is completed, the deviation amount calculation unit 90 calculates the magnitude and direction of the deviation between the position of the vehicle and the target parking position at that time. The target movement path generation unit 50 generates a deviation based on the magnitude and direction of the deviation between the position of the vehicle at the time of completion of parking for a plurality of past times and the target parking position stored in the deviation amount storage unit 100. Do not move target Has been described as generated. "The.

JP, 2014-227021, A

During execution of automatic parking by the parking assist device, the driver may depress the brake pedal for some reason to slow down or stop the vehicle. Alternatively, the driver may request the parking assistance device to change the target parking position while performing automatic parking.

For example, when the target parking position is approached, the target parking position and the surrounding environment are different from the driver's preference, or the target parking position is a parking area dedicated to mini vehicles and the vehicle can not be parked. There is a case where such a situation is newly found.

Furthermore, the parking assistance device may detect an obstacle that could not be detected initially during automatic parking, and may automatically stop or decelerate the vehicle.

Therefore, in the realization of the parking assistance device, it is necessary to define the restart operation in the above case. It is desirable that the restart operation does not continue the previous operation and approach the initial target parking position so as not to violate the driver's intention, and that the restart operation is highly convenient.

The parking assistance device according to the present invention includes an external world recognition unit that recognizes the outside of a vehicle, a parking position information holding unit that holds information on a plurality of parking candidate positions recognized by the external world recognition unit, and a plurality of parking candidate positions. The vehicle has a parking position determination unit that determines a target parking position from the inside, and a route calculation unit that calculates a parking route from the current position of the vehicle to the target parking position, and the route calculation unit A new parking path is calculated from the current position for each of a plurality of parking candidate positions, triggered by reaching a state meeting a predetermined condition during autonomous traveling to the target parking position of 1. .

According to the present invention, it is possible to improve the convenience of the driver or the user when parking assistance or automatic parking of the vehicle is performed.

System diagram of an embodiment of the present invention An example of a display screen of alternative parking position candidates according to the first embodiment of the present invention An example of a display screen during execution of automatic parking in the second embodiment of the present invention An example of a display screen of alternative parking position candidates according to the fourth embodiment of the present invention

The parking assistance device disclosed in this section is, for example, one of a plurality of parking candidate positions held in the device when automatic parking is performed while the automatic parking is performed. For each, calculate a new parking path from the current position.

Then, the candidate parking position which has succeeded in calculating the new parking route is presented to the driver as a target parking position candidate, and automatic parking to a new target parking position selected from the target parking position candidates is performed. Ask the driver if it should start.

In this way, when the driver steps on the brake and the vehicle stops while performing automatic parking, or when the driver wants to change the target parking position, the previous parking operation is continued and the original target parking position In order to present new target parking position candidates without approaching the driver, the driver can be given a sense of security.

In addition, when presenting the target parking position candidate, the information held by the parking assistance device is read out and the parking path is calculated in advance, so that the parking operation can be resumed quickly, which is convenient for the driver. Improves the quality.

A first embodiment of the present invention will be described using FIGS. 1 to 3.
FIG. 1 is a system configuration diagram according to a first embodiment of the present invention, which includes a parking control unit 100, an external sensor 200, a vehicle sensor 300, in-

vehicle networks

400 and 401, and a human interface (hereinafter referred to as HMI) 500. It is divided. The HMI 500 may be referred to as a display operation unit 500.

The parking control unit 100 includes an external world recognition unit 110, a parking position information management unit 120, a route calculation unit 130, an own vehicle position estimation unit 140, an acceleration / deceleration control unit 150, a steering control unit 160, and a state transition control unit 170.

The external world recognition unit 110 recognizes a space in which the vehicle can be parked and obstacles around the vehicle using information input from an external world sensor 200 described later.

The parking position information management unit 120 includes a parking position information holding unit 121 and a parking position determination unit 122.

The parking position information holding unit 121 holds, as parking candidate positions, position information of one or more parkable spaces input from the external world recognition unit 110.

The parking position determination unit 122 receives an instruction of selection and fine adjustment of the target parking position input from the driver via the HMI 500, and reflects them on the parking candidate position information input from the parking position information holding unit 121. , Determine the final target parking position. The determined target parking position is output to the route calculation unit 130.

The route calculation unit 130 calculates a parking route from the current position to the parking position using the parking position input from the parking position information management unit 121 and the own vehicle position input from the own vehicle position estimation unit 150. .

The HMI 500 includes an operation unit 501, a display unit 502, and a speaker 503, and a driver or a passenger sets a target parking position and instructs start and end of automatic parking via the operation unit 501. In addition, notification information to the driver from other components is received, and the content is displayed on the display unit 502, or emitted from the speaker 503 as an alarm sound or voice guidance.

The operation unit 501 may be in the form of using a physical switch arranged near the driver's seat, or in the form of performing an operation by touching a button displayed on the display unit 502 with a finger. Do not limit

The vehicle position estimation unit 140 uses the wheel speed input from the wheel speed sensor 302 and the steering angle input from the steering angle sensor 303 to calculate vehicle position information including the position coordinates of the vehicle and the yaw angle. .

The acceleration / deceleration control unit 150 uses the parking path input from the route calculation unit 130, the wheel speed input from the wheel speed sensor 302, and the target acceleration / deceleration using the vehicle position information input from the vehicle position estimation unit 140. Then, the drive torque and the brake fluid pressure necessary for achieving the target acceleration / deceleration are calculated, and the engine, motor, transmission, brake, steering, etc. are controlled.

The steering control unit 160 calculates a target steering angle using the route information input from the route calculation unit 130 and the vehicle position information input from the vehicle position estimation unit 140, and controls steering.

The state transition control unit 170 manages the internal state of the entire parking control unit 100, and outputs necessary instructions to each component of the parking control unit 100 at the time of internal state transition.

The external sensor 200 is a device that detects an external space, an obstacle, or a road surface indication of the vehicle and outputs it to the external recognition unit 110. Specifically, a camera, a sonar, a radar, or a combination of them may be considered. In the present embodiment, the type is not limited.

Depending on the type of the external sensor 200, the external sensor 200 and the external recognition unit 110 may be connected via an on-vehicle network 400 described later, or may be directly connected via a dedicated interface.

The vehicle sensor 300 is a generic name of various sensors that detect a vehicle state, and in the configuration of the present embodiment, at least a brake sensor 301 that detects that a driver has stepped on a brake pedal, and a wheel speed that detects a wheel speed. The sensor 302 includes a steering angle sensor 303 that detects a steering angle.

The in-vehicle network 400 is a network to which the parking control unit 100, the vehicle sensor 300, and the external sensor 200 are connected.

The in-vehicle network 401 is a network in which the parking control unit 101 and a control unit that directly controls an engine, a brake, a steering, a transmission, and the like are connected.

Intercommunication is possible between components connected to each in-vehicle network. In this embodiment, it is assumed that the in-

vehicle networks

400 and 401 conform to the CAN (Controller Area Network) standard, but the in-

vehicle networks

400 and 401 may not necessarily conform to the same standard.

Next, the automatic parking operation in the first embodiment will be described.
When the driver uses the HMI 500 to instruct the start of the search for the parkable space, the external world recognition unit 110 searches for the parkable space. As a result, when it is determined that there is a space available for parking, the outside world recognition unit 110 outputs the position information to the parking position information management unit 120.

The parking position information management unit 120 holds the parking position information input from the external world recognition unit 110 in the parking position information holding unit 121 and outputs the parking position information to the route calculation unit 130.

The route calculation unit 130 uses the parking position information input from the parking position information management unit 120 and the vehicle position information input from the vehicle position estimation unit 140 to calculate a parking route from the current position to the parking position. calculate.

If the calculation of the parking route is successful, the route calculation unit 130 outputs the calculated route information to the parking position information management unit 120.

If the calculation of the parking route fails, the route calculation unit 130 outputs information indicating that the route generation has failed to the parking position information management unit 120.

The parking position information management unit 120 outputs the corresponding parking position information and the route information to the HMI 500 when the route information is input from the route generation unit 130 for the parking position information held in the parking position information holding unit 121. , Hold route information.

The HMI 500 generates a display parking frame line and a display path line from the parking position information and the route information input from the parking position information management unit 120, and superimposes it on an image obtained by photographing the outside of the vehicle by an imaging device such as a camera. , And display on the display unit 502.

When there are a plurality of pairs of parking position information and route information input from the parking position information managing unit 120, the HMI 500 displays a plurality of corresponding parking position candidates on the display unit 502, and also displays them to the driver. A message prompting the user to select a target parking position from the parking position candidates is displayed on the display unit 502, and the driver waits for a target parking position selection operation.

When the driver selects the target parking position via the operation unit 501, the HMI 500 waits for the driver's fine adjustment operation of the target parking position and an instruction to start automatic parking.

On the other hand, when there is only one pair of parking position information and route information input from the parking position information managing unit 120, the HMI 500 does not wait for the driver to select the target parking position and the target parking by the driver Wait for the fine-tuning operation of the position and the instruction to start the automatic parking.

In the above state, when the driver gives an instruction to start automatic parking via the operation unit 501, the HMI 500 instructs the parking position information management unit 120 that the driver has selected the target parking position selected by the driver. Output the fine adjustment amount of the target parking position.

The parking position information management unit 120 uses the target parking position and the fine adjustment amount input from the HMI 500 to determine the final target parking position in the parking position determination unit 122, and outputs the final target parking position to the route calculation unit 130.

When the fine adjustment amount of the target parking position input from the HMI 500 is 0, the corresponding route information is output to the route calculation unit 130 in addition to the target parking position.

The route calculation unit 130 uses the target parking position input from the parking position information management unit 120 and the vehicle position information input from the vehicle position estimation unit 140 to calculate a parking route from the current position to the parking position. calculate.

Next, the route calculation unit 130 outputs the calculated route information to the acceleration / deceleration control unit 150 and the steering control unit 160.

However, when the route information is input together with the target parking position from the parking position information management unit 120, the route calculation unit 130 does not calculate the parking route, and the inputted route information is subjected to acceleration / deceleration control unit 150 and steering control. Output to the part 160.

The acceleration / deceleration control unit 150 performs acceleration / deceleration control to stop at a predetermined position after a predetermined speed change using the parking path input from the path calculation unit 130.
The steering control unit 160 also performs steering control to follow the route using the parking route input from the route calculation unit 130. Automatic parking is performed as described above.

Next, the operation when the driver decelerates or stops the vehicle during automatic parking will be described.

The driver may decelerate or stop the vehicle by stepping on a brake pedal, operating a parking brake, or operating a transmission.

When the driver depresses the brake pedal, the brake sensor 301 detects that the brake pedal is depressed and transmits information indicating that the brake pedal is depressed to the in-vehicle network 400.

When the driver activates the parking brake, the parking brake device outputs information indicating that the parking brake is in operation to the in-vehicle network 400.

When the driver operates the transmission, the transmission outputs the shift position after the operation to the in-vehicle network 400.

When the state transition control unit 170 receives any of the above signals via the in-vehicle network 400 in a state where automatic parking is being performed, the state transition control unit 170 outputs a route information output interruption instruction to the route calculation unit 130.

Further, state transition control unit 170 outputs a vehicle stop instruction to acceleration / deceleration control unit 150.

Furthermore, the state transition control unit 170 outputs, to the parking position information management unit 120, an instruction to read out the held parking candidate position.

When the route calculation unit 130 receives the route information suspension stop instruction from the state transition control unit 170, the route calculation unit 130 outputs the route information to the acceleration / deceleration control unit 150 and the steering control unit 160 while keeping the target route information inside. Stop.

When a vehicle stop instruction is input from the state transition control unit 170, the acceleration / deceleration control unit 150 performs deceleration control so that the speed becomes 0 after a predetermined speed change.

When the parking position information management unit 120 receives an instruction to read out the parking candidate position from the state transition control unit 170, the parking position information management unit 120 reads the parking candidate position held in the parking position information holding unit 121 and outputs it to the route calculation unit 130. .

When the route information is input from the route generation unit 130 for one or more of the parking candidate positions held in the parking position information holding unit 121, the parking position information management unit 120 determines the corresponding parking position information and the route information. And output to the HMI 500 as information of alternative parking position candidates.

In addition, for all the parking candidate positions held in the parking position information holding unit 121, the parking position information managing unit 120 substitutes information indicating that the route information has failed in the route information from all of the parking candidate positions. The information which shows that there is no parking position candidate is output to HMI500.

When the information of the parking position candidate to be a substitute is input from the parking position information managing unit 120, the HMI 500 generates a display parking frame line and a display path line from the parking position information and the route information, and displays the outside of the vehicle It is superimposed on the taken image and displayed on the display unit 502.

Further, the HMI 500 displays on the display unit 502 a message for causing the driver to select either changing the target parking position and continuing the automatic parking or stopping the automatic parking, and waits for an input from the driver. .

When there are a plurality of alternative parking position candidates input from the parking position information management unit 120, the HMI 500 may, for example, select colors of the display frame line and the display path line according to the length of the parking path. The display method may be changed according to a predetermined standard, such as changing the brightness.
This is expected to enable the driver to easily determine an alternative target parking position.

FIG. 2 shows an example of a display screen of alternative parking position candidates in the display unit 502.
In the center of the screen, three alternative parking position candidates are superimposed and displayed on the overhead image synthesized from the video of the surroundings of the vehicle, and among them, the parking position candidate closest to the own vehicle is the other It is displayed in different colors and is designed to attract the driver's attention.

At the top of the screen, the message “Please select the parking position and press“ Continue ”to continue” and “Please press“ Stop ”to cancel” is displayed, prompting the driver to perform the next operation.

At the lower part of the screen, "Continuous" and "Abort" buttons are displayed, and the driver can select either of these to change the target parking position and continue automatic parking or automatic parking. Instruct the cancellation of

On the other hand, when information indicating that there is no alternative parking position candidate is input from the parking position information management unit 120, the HMI 500 displays a message to the effect that there is no alternative parking position candidate on the display unit 502. .

Also, the HMI 500 displays on the display unit 502 a message for causing the driver to select either to search for a new alternative parking position and perform automatic parking or to stop automatic parking, Wait for the input of

When the driver instructs automatic parking continuation after changing the target parking position via the operation unit 501, the HMI 500 outputs the target parking position selected by the driver to the parking position information managing unit 120. . The subsequent operation is the same as when the driver gives an instruction to start automatic parking.

On the other hand, when the driver instructs cancellation of automatic parking via the operation unit 501, the HMI 500 outputs an automatic parking cancellation instruction to the state transition control unit 170.

When an automatic parking stop instruction is input from the HMI 500, the state transition control unit 170 outputs a route information output stop instruction to the route calculation unit 130.

When a route information output suspension instruction is input from the state transition control unit 170, the route calculation unit 130 stops the output of the route information to the acceleration / deceleration control unit 150 and the steering control unit 160, and discards the target route information. .

According to the first embodiment of the present invention, when the driver depresses the brake pedal and the vehicle is stopped during the execution of the automatic parking, the previous parking operation is continued to approach the original target parking position In addition, since a new target parking position candidate is presented, the driver can be given a sense of security.

In addition, as a driver's intention at the time of decelerating or stopping a vehicle, when an obstacle is discovered, a case where a parking frame for specific vehicles (for example, small vehicles exclusive use) is discovered, or a case by a driver's taste is assumed. Be done.

Next, a second embodiment of the present invention will be described.
The system configuration of this embodiment is as shown in FIG. 1 and is the same as or similar to the first embodiment, but the means for instructing the driver to change the target parking position during automatic parking is the same as that of the first embodiment. The added point is different from the first embodiment.

FIG. 3 shows an example of the display screen of the display unit 502 during execution of automatic parking.
At the center of the screen, a target parking position and a parking path are superimposed and displayed on a bird's-eye image synthesized from a video of the surroundings of the vehicle.

At the bottom of the screen, a button "Change parking position" is displayed, and by selecting this, the driver instructs to change the target parking position during automatic parking.

In the present embodiment, when the driver instructs to change the target parking position via the operation unit 501 in a state where automatic parking is being performed, the state transition control unit 170 instructs the parking position information management unit 120. And instructs to read out the held parking candidate position.

The operation other than the above is the same as that of the first embodiment.

According to the present embodiment, after approaching the initial target parking position by automatic parking, the driver finds that the target parking position or the surrounding environment does not match the driver's intention. When it is desired to change the target parking position during the parking operation, the driver's convenience can be expected to be improved since the change to the alternative target parking position can be made quickly.

Next, a third embodiment of the present invention will be described.
The system configuration of this embodiment is as shown in FIG. 1 and is the same as or similar to that of the first embodiment. However, parking position candidates can be identified during execution of automatic parking in external world recognition unit 110 and parking position information management unit 120. The second embodiment differs from the first embodiment in that the function of searching for and holding the obtained parking position candidate is added.

In the present embodiment, even after the driver gives an instruction to start automatic parking via the operation unit 501, the external world recognition unit 110 continues searching for a space that can be parked.

As a result, when it is determined that there is a space available for parking, the outside world recognition unit 110 outputs the position information to the parking position information management unit 120.

The operation of the third embodiment of the present invention other than the above is the same as that of the first embodiment.

According to this embodiment, alternative target parking positions are searched even while performing automatic parking.

For this reason, while the automatic parking is in progress, if the driver feels danger and the vehicle is stopped by stepping on the brake, or if the driver wants to change the target parking position, an alternative target parking position for the driver Can be presented more, and the possibility of the driver being able to select a more convenient target parking position increases.

Next, a fourth embodiment of the present invention will be described.
The system configuration of this embodiment is as shown in FIG. 1 and is the same as or similar to that of the first embodiment, but is set at the time of deceleration or stop operation by the driver for the external world recognition unit 110 The function to monitor the obstacle on the route to the target parking position is added, and the operation when it is determined that the obstacle does not exist is added to HMI 500 and state transition control unit 170 Is different from the first embodiment.

In the present embodiment, when the driver decelerates or stops the vehicle, in parallel with the operation of the first embodiment, the external world recognition unit 110 determines the route to the target parking position set at that time. Periodically search for the obstacles above.

As a result, when it is determined that the obstacle does not exist, the external world recognition unit 110 outputs information indicating that the obstacle does not exist to the HMI 500.

When the HMI 500 receives information indicating that there is no obstacle from the external world recognition unit 110, a message indicating that there is no obstacle in the route to the currently set target parking position is displayed on the display unit 502. indicate.

Also, the HMI 500 selects for the driver either to continue automatic parking at the currently set target parking position, change the target parking position and continue automatic parking, or to stop automatic parking. A message to be made is displayed on the display portion 502, and an input from the driver is awaited.

FIG. 4 shows an example of a display screen of alternative parking position candidates.

In the center of the screen, alternative parking position candidates are superimposed and displayed on a bird's-eye view image synthesized from the image obtained by photographing the surroundings of the vehicle.

At the top of the screen, the message "Please press" Continue "if you do not want to change the parking position" "Please select the parking position and press" Continue "to change the parking position" Prompt the next operation.

At the bottom of the screen, buttons of "continue" and "cancel" are displayed.

If the driver selects "Continue" without selecting a parking position candidate, the driver instructs to continue automatic parking to the currently set target parking position, and after selecting a parking position candidate, "Continuous" is selected. In this case, it becomes an instruction to continue automatic parking after changing the target parking position.

In addition, when the driver selects "stop", it becomes an instruction to stop automatic parking.

When the driver instructs to continue the automatic parking at the currently set target parking position via the operation unit 501, the HMI 500 outputs an automatic parking resumption instruction to the state transition control unit 170.

When the automatic parking restart instruction is input from the HMI 500, the state transition control unit 170 outputs a route information output restart instruction to the route calculation unit 130.

When the route information output restart instruction is input from the state transition control unit 170, the route calculation unit 130 resumes the output of the route information to the acceleration / deceleration control unit 150 and the steering control unit 160.

The operation of the present embodiment other than the above is the same as that of the first embodiment.

According to this embodiment, when there is no obstacle on the route to the initial target parking position, automatic parking to the initial target parking position is resumed.

For this reason, during the execution of the automatic parking, when the driver feels danger and steps on the brake to stop the vehicle, and then the obstacle is removed or is removed from the route due to movement, the initial goal is Automatic parking can be continued without changing the parking position, and convenience is improved.

From the above-described embodiments, possible configurations can be expressed as follows.
A target parking position is determined from among an outside world recognition unit that recognizes the outside of the vehicle, a parking position information holding unit that holds information on a plurality of parking candidate positions recognized by the outside world recognition unit, and a plurality of parking candidate positions. A parking position determination unit, and a route calculation unit that calculates a parking route from the current position of the vehicle to the target parking position, the route calculation unit is configured such that the vehicle is autonomous to the first target parking position During traveling, a new parking path is calculated from the current position for each of the plurality of parking candidate positions, triggered by reaching a state meeting a predetermined condition.

In addition, it has a display operation unit for displaying information to the driver and an input from the driver, and when the new parking path is calculated, the display operation unit is capable of parking the space which can be parked at the target parking position Whether or not to start parking at a second target parking position different from the first target parking position, which is displayed as the candidate of the target parking position and displayed as a candidate of Confirm.

Further, the display device has a photographing device for photographing a video outside the vehicle, and the display operation unit displays the candidate of the target parking position and the new parking path superimposed on the video photographed by the photographing device. .

Further, when there are a plurality of candidates for the target parking position, the display operation unit changes the display of the candidates for the target parking position according to the length of the new parking path.

Further, the parking candidate position held by the parking position information holding unit is that the outside world recognition unit recognizes as a parking available space and is not selected as the first target parking position.

In addition, the parking candidate position held by the parking position information holding unit is that the outside world recognition unit recognizes as a parking available space after autonomous traveling to the first target parking position is started.

The predetermined condition is stop or deceleration of the vehicle by the operation of the driver.

In addition, when the stop or deceleration of the vehicle occurs due to the operation of the driver, the external world recognition unit detects an obstacle on the route to the first target parking position in parallel with the calculation of the new parking route. After searching for an object and recognizing that the obstacle does not exist, autonomous traveling to the first target parking position is resumed.

Further, the operation of the driver is an operation of stepping on a brake pedal.

Further, the driver's operation is an operation for operating a parking brake.

Further, the operation of the driver is an operation of a transmission.

The driver's operation is a stop operation through the display operation unit.

The predetermined condition is a change of the target parking position by the operation of the display operation unit of the driver.

Further, the predetermined condition is a determination that the external world recognition unit can not perform parking at the first target parking position.

100 parking control unit 110 external recognition unit 120 parking position information management unit 130 route calculation unit 140 own vehicle position estimation unit 150 acceleration / deceleration control unit 160 steering control unit 170 state transition control unit 200 external sensor 300 vehicle sensor 301 brake sensor 302 wheel speed Sensor 303 Steering angle sensor 400 In-vehicle network 401 In-vehicle network 500 HMI (display operation unit)
501 HMI operation unit 502 HMI display unit 503 HMI speaker

Claims

An external recognition unit that recognizes the outside of the vehicle;
A parking position information holding unit that holds information on a plurality of parking candidate positions recognized by the outside world recognition unit;
A parking position determination unit that determines a target parking position from among the plurality of parking candidate positions;
A route calculation unit that calculates a parking route from the current position of the vehicle to the target parking position;
The route calculation unit is configured to set the current candidate for each of the plurality of parking candidate positions in response to a state in which the vehicle meets a predetermined condition during autonomous traveling to the first target parking position. A parking assistance apparatus characterized by calculating a new parking route from a position.
A display operation unit that displays information to the driver and receives an input from the driver;
The display operation unit is
When the new parking path is calculated, a space available for parking is displayed as a candidate for the target parking position,
It is characterized by confirming with the driver whether or not to start parking at a second target parking position different from the first target parking position, which is selected from the candidates for the target parking position. The parking assistance device according to claim 1, wherein the parking assistance device is a parking assistance device.
And an imaging device for capturing an image outside the vehicle,
The parking assistance apparatus according to claim 2, wherein the display operation unit displays the candidate of the target parking position and the new parking path superimposed on an image photographed by the photographing device.
The display operation unit is characterized in that, when there are a plurality of candidates for the target parking position, display of the candidates for the target parking position is changed according to the length of the new parking path. The parking assistance device according to 2 or 3.
The parking candidate position held by the parking position information holding unit is characterized in that the outside world recognition unit recognizes it as a parking space and is not selected as the first target parking position. The parking assistance apparatus of Claim 1 or 2.
The parking candidate position held by the parking position information holding unit is a position recognized by the outside recognition unit as a parking available space after autonomous traveling to the first target parking position is started. The parking assistance device according to claim 1 or 2, wherein
The parking assistance device according to claim 1, wherein the predetermined condition is stop or deceleration of the vehicle by an operation of the driver.
When the stop or deceleration of the vehicle occurs by the operation of the driver, the external world recognition unit detects an obstacle on the route to the first target parking position in parallel with the calculation of the new parking route. The parking assist system according to claim 7, characterized in that autonomous traveling to the first target parking position is resumed after searching and recognizing that the obstacle does not exist.
The parking assistance device according to claim 7 or 8, wherein the driver's operation is an operation of stepping on a brake pedal.
The parking assistance device according to claim 7, wherein the driver's operation is an operation for operating a parking brake.
The parking assistance device according to claim 7 or 8, wherein the driver's operation is a transmission operation.
The parking assistance device according to claim 7, wherein the driver's operation is a stop operation through the display operation unit.
The parking assistance device according to claim 1, wherein the predetermined condition is a change of the target parking position by an operation of the display operation unit of the driver.
The parking assistance apparatus according to claim 1, wherein the predetermined condition is a determination by the external world recognition unit that the parking at the first target parking position is not possible.