Parking assistance device, parking assistance method, and vehicle

Abstract

To provide a parking support device which is mounted on a vehicle capable of storing a door handlebar incorporating an antenna, and which communicates with a terminal outside the vehicle via the antenna, and which is capable of setting a communicable distance thereof to a necessary and sufficient length.SOLUTION: A parking support device is mounted on an own vehicle which is provided with storage type door handlebar devices each include a door handlebar incorporating an antenna for communicating with a terminal that a user carries and an actuator which moves from a first state that the door handlebar is stored within a door panel to a second state that a part incorporating the antenna, of the door handle bar protrudes out of the door panel. The parking support device communicates with the terminal by using the antenna and executes entry control or exit control when a prescribed condition concerning a communication result is satisfied. A processor brings the door handlebar into the second state when executing the entry control and / or the exit control.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a parking assistance device that performs entry control for a vehicle to enter a predetermined parking spot and / or exit control for a vehicle to exit the parking spot.The present invention also relates to a parking assistance method that performs the entry control and / or the exit control.The present invention also relates to a vehicle equipped with the parking assistance device. [Background technology]

[0002] A parking assistance device has been proposed that uses a sensor mounted on the vehicle to detect a parking spot where the vehicle can be parked and performs entry control to bring the vehicle into that parking spot (see, for example, Patent Document 1).

[0003] A processor (a computing device mounted on a vehicle) of the parking assistance device described in Patent Document 1 (hereinafter referred to as the "conventional device") determines a target position based on information acquired from a sensor. The target position is the position of the vehicle when parked (e.g., the position of the center of gravity of the vehicle). The processor sets a route from the current location (a point outside the parking spot) to the target position. Next, the driver (user) gets out of the vehicle, launches predetermined application software on a smartphone outside the vehicle, and performs a predetermined operation. The smartphone transmits a signal to move the vehicle forward in response to the user's operation. The processor moves the vehicle along the route based on the signal transmitted from the smartphone. When the vehicle reaches the target position, the processor parks the vehicle. That is, the processor shifts the shift position of the vehicle to the parking position, activates the parking brake, and then switches the ignition switch to the off state. In this way, the user can remotely operate the vehicle from outside the vehicle to park it in a parking spot.

[0004] It is preferable for a user to remotely operate their vehicle from a position where they can visually confirm the safety of the area around their vehicle. Therefore, a threshold value Δdth (a legally regulated value) is defined as the upper limit of the distance Δd between the user and their vehicle when the user remotely operates the vehicle. The processor of the conventional device acquires the distance Δd between the user and their vehicle as follows: Specifically, the processor transmits a predetermined first signal S1 (LF band radio waves) from a transmitting antenna TA built into the door handle of the vehicle. The smart key carried by the user receives the first signal. Here, the strength of the first signal received by the smart key correlates with the distance Δd between the user and their vehicle. That is, as the distance Δd increases, the strength of the first signal received by the smart key decreases. The smart key transmits a second signal (UHF band radio waves) representing the strength of the first signal. The processor acquires the second signal via a receiving antenna (e.g., an antenna disposed inside the vehicle cabin) and acquires the distance Δd based on the second signal. The processor is configured to allow the host vehicle to proceed along the route only when the distance Δd is equal to or less than a threshold Δdth (a legally regulated value). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] German Patent Invention No. DE102014015655 Summary of the Invention

[0006] A door handle device (retractable door handle device) has been proposed that allows a vehicle's door handle to be retracted into a door panel when the vehicle door does not need to be opened from the outside (see FIGS. 2 and 7). Specifically, an opening OP is provided in the door panel DP (outer panel DPb), and the door handle DH can be retracted (pushed) into the door panel (the space between the outer panel DPb and the inner panel DPa) through the opening OP. When the door handle DH is retracted into the door panel DP (hereinafter referred to as the "first state"), the transmitting antenna TA is located inside the door panel DP. Therefore, even if a first signal S1 (LF band radio waves) is transmitted, only a portion of the radio waves that pass through the synthetic resin door handle DH are radiated outward from the opening OP in the door panel, while the remaining portion is reflected by the inner surface of the metal door panel DP and attenuated (see FIG. 7). In other words, the intensity of the first signal S1 radiated to the outside of the vehicle is relatively weak. This may result in a relatively short reach of the first signal S1. For example, the reachable distance of the first signal S1 may be less than the threshold value Δdth. Therefore, in the first state, the user cannot remotely control the host vehicle unless the user is very close to the host vehicle.

[0007] One object of the present invention is to provide a parking assistance device that is applied to a vehicle in which a door handle with a built-in antenna can be stored in the door panel, and that communicates with a terminal outside the vehicle via the antenna, and that can set the communication distance to a necessary and sufficient length.

[0008] In order to achieve the above object, the parking assistance device (1) of the present invention comprises: The device is mounted on a host vehicle (V) equipped with a retractable door handle device (HA) including a door handle (DH) with a built-in antenna (TA) for communicating with a terminal (SK) carried by a user located outside the host vehicle (V), and an actuator (AC) that transitions the door handle from a first state in which it is stored within a door panel (DP) to a second state in which the portion of the door handle with the built-in antenna protrudes outside the door panel. The parking assistance device communicating with the terminal using the antenna; The result of said communication Prescribed conditions regarding and a predetermined condition for determining that the travel of the host vehicle is permitted. a processor (10) that executes entry control for causing the vehicle to enter a parking spot (PS) and / or exit control for causing the vehicle to exit the parking spot when the condition is met, The processor: When the vehicle is connected to the terminal and communication is enabled, the door handle is transitioned to the second state, and when the predetermined condition is satisfied, the entry control and / or the exit control is executed. , and is configured as follows.

[0009] When executing parking entry control and / or exit control, the processor of the parking assistance device according to the present invention communicates with a terminal carried by a user located outside the vehicle via an antenna built into the door handle. At this time, the processor transitions the door handle to a second state, which positions the antenna outward from the outer surface of the door panel. Therefore, when the antenna in the door handle is for transmission, a signal transmitted from the antenna is radiated to the outside of the vehicle without being blocked by the door panel. Furthermore, when the antenna in the door handle is for reception, a signal transmitted from the terminal is received by the antenna without being blocked by the door panel. Therefore, according to the present invention, the communication distance between the processor and the terminal can be set to a necessary and sufficient length.

[0010] In one aspect of the present invention, there is provided a parking assistance device, The processor transmits a first signal (S1) from the antenna to the terminal, and then acquires a second signal (S2) from the terminal, which indicates the strength of the first signal received by the terminal, and determines whether the strength of the first signal indicated by the second signal is equal to or greater than a threshold, and When a travel permission signal indicating that the travel of the host vehicle is permitted is received, the predetermined condition is satisfied. but was established It is determined that:

[0011] This allows the processor to detect the distance between the user and the vehicle relatively easily and accurately based on the second signal.

[0012] In another aspect of the present invention, there is provided a parking assistance device comprising: The processor is configured to transition the door handle to the first state when the storage control is terminated.

[0013] This prevents others from gripping the door handle, improving security.

[0014] In another aspect of the present invention, there is provided a parking assistance device comprising: The processor is configured to maintain the door handle in the second state when the exit control is terminated.

[0015] According to this, when the vehicle has been taken out of the parking lot, the user can grasp the door handle to open the door and get into the vehicle.

[0016] Further, the parking assistance method of the present invention comprises: The present invention is applicable to a vehicle equipped with a retractable door handle device including a door handle with a built-in antenna for communicating with a terminal carried by a user located outside the vehicle, and an actuator that transitions the door handle from a first state in which it is stored within a door panel to a second state in which the portion of the door handle with the built-in antenna protrudes outside the door panel. Parking assistance methods include: a parking assistance step of communicating with the terminal using the antenna, and causing a processor included in the vehicle to execute entry control for causing the vehicle to enter a parking spot and / or exit control for causing the vehicle to exit the parking spot when a predetermined condition related to the communication result is satisfied; The parking assistance step is configured to include a step of transitioning the door handle to the second state.

[0017] This prevents communication signals between the processor and the terminal from being blocked by the door panel, and therefore allows the communication distance between the processor and the terminal to be set to a necessary and sufficient length.

[0018] Further, the vehicle of the present invention is a retractable door handle device including: a door handle with a built-in antenna for communicating with a terminal carried by a user located outside the vehicle; and an actuator that transitions the door handle from a first state in which the door handle is retracted within a door panel to a second state in which a portion of the door handle with the built-in antenna protrudes outside the door panel; a parking assistance device including a processor that communicates with the terminal using the antenna and, when a predetermined condition related to the communication result is satisfied, executes entry control for causing the vehicle to enter a parking spot and / or exit control for causing the vehicle to exit the parking spot; Equipped with. The processor is configured to transition the door handle to the second state when the entry control or the exit control is executed.

[0019] This prevents communication signals between the processor and the terminal from being blocked by the door panel, and therefore allows the communication distance between the processor and the terminal to be set to a necessary and sufficient length. [Brief explanation of the drawings]

[0020] [Figure 1] FIG. 1 is a block diagram of a parking assistance device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a perspective view of the retractable door handle device. [Figure 3] FIG. 3 is a cross-sectional view of the retractable door handle device, taken perpendicular to the vehicle height direction. [Figure 4] FIG. 4 is a plan view showing a scene in which the vehicle is moved along a set route and parked in a parking spot. [Figure 5] FIG. 5 is a plan view showing the coverage area (communicable range) of the first signal. [Figure 6] FIG. 6 is a flowchart of the automatic parking program executed by the automatic parking ECU. [Figure 7]FIG. 7 is a cross-sectional view of the retractable door handle device, taken perpendicular to the longitudinal direction of the vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0021] (Summary) 1, a parking assistance device 1 according to one embodiment of the present invention is mounted on a vehicle V (hereinafter referred to as "the vehicle") equipped with a retractable door handle device HA. The parking assistance device 1 has an automatic entry function that automatically moves the vehicle V to a predetermined parking spot PS in accordance with a signal received from a smartphone SP operated by a user located outside the vehicle, and an automatic exit function (automatic driving function) that automatically moves the vehicle V to exit the parking spot PS.

[0022] Here, the configuration of the retractable door handle device HA will be explained. As shown in Figures 2 and 3, the retractable door handle device HA is attached to the door panel DP of the door DR of the vehicle. The door panel DP is formed by joining an inner panel DPa and an outer panel DPb. A space is provided between the inner panel DPa and the outer panel DPb. In other words, the door panel DP has a box shape (or a bag shape). The retractable door handle device HA is housed within the door panel DP. The retractable door handle device HA includes a door handle DH. The door handle DH is made of synthetic resin. The door handle DH is a hollow part extending in the front-rear direction. A transmitting antenna TA is housed (built-in) in the door handle DH.

[0023] An opening OP having substantially the same shape as the outer shape of the door handle DH is provided in the outer panel DPb. The door handle DH is attached to the peripheral edge of the opening OP (the inner surface of the outer panel DPb) via a bracket (not shown). The front end of the door handle DH is supported so as to be rotatable around an axis SH extending in the vertical direction. The door handle DH can be rotated clockwise in FIG. 3(A) from a first state (stored state) shown in FIGS. 2(A) and 3(A) to a second state (extended state) shown in FIGS. 2(B) and 3(B). The door handle DH can also be rotated counterclockwise in FIG. 3(B) from the second state to the first state shown in FIGS. 2(A) and 3(A). In the first state, the outer peripheral edge of the door handle DH is aligned with the inner peripheral edge of the opening OP, and the outer surface of the door handle DH and the outer surface of the outer panel DPb are positioned substantially flush with each other. In the second state, the rear half of the door handle DH (the portion housing the transmitting antenna TA) protrudes outward from the outer surface of the outer panel DPb.

[0024] Additionally, the retractable door handle device HA includes an actuator AC (see FIG. 1). The actuator AC includes a link mechanism including a cam, lever, spring, gears, etc., not shown, and an electric motor. The electric motor of the actuator AC rotates (forward or reverse) in accordance with a drive signal supplied from a door ECU 10b (described later). The rotational drive force of this electric motor acts on the door handle DH via the link mechanism. This causes the door handle DH to transition from the first state to the second state (extend) or from the second state to the first state (retract). Note that the door handle DH is normally retracted (for example, when the vehicle is moving or when the user is far away from the vehicle). When the user enters the vehicle and performs a predetermined operation near the vehicle, the door handle DH is extended. This allows the user to grasp the door handle DH and open the door DR.

[0025] (Specific configuration) As shown in FIG. 1, the parking assistance device 1 includes a control unit 10, an on-board sensor 20, a communication device 30, a drive device 40, a braking device 50, and a steering device 60.

[0026] The control unit 10 includes a verification ECU 10a, a door ECU 10b, and a parking assistance ECU 10c. Each ECU is configured by a microcomputer device equipped with a CPU (processor), RAM, ROM, etc. These ECUs are connected via a CAN (Controller Area Network). These ECUs are further connected via the CAN to other ECUs provided in the vehicle (for example, ECUs such as a drive unit 40, a braking unit 50, and a steering unit 60, which will be described later).

[0027] The verification ECU 10a can communicate with the smart key SK via a transmitting antenna TA built into the door handle DH and a receiving antenna RA located inside the vehicle cabin. Specifically, the verification ECU 10a transmits various signals (LF-band radio waves) from the transmitting antenna TA. The verification ECU 10a also receives various signals (UHF-band radio waves) transmitted from an external device (the smart key SK). The signals transmitted from the smart key SK include predetermined authentication information. The verification ECU 10a determines whether the authentication information in the received signal matches authentication information previously assigned to the vehicle. If the authentication information in the received signal matches authentication information previously assigned to the vehicle, the verification ECU 10a executes processing according to the signal.

[0028] For example, the verification ECU 10a transmits a predetermined first signal S1 from the transmitting antenna TA of the door handle DH. When the smart key SK receives the first signal S1, it transmits a second signal S2 indicating the intensity of the received first signal S1. When the verification ECU 10a receives the second signal S2, it calculates a distance Δd between the user and the vehicle based on the second signal S2. Then, the verification ECU 10a transmits the distance Δd to another ECU (the parking assistance ECU 10c described below).

[0029] The door ECU 10b controls various devices built into the door DR of the host vehicle. Specifically, the door ECU 10b controls an actuator provided in a door lock device (not shown) to lock or unlock the door of the host vehicle. The door ECU 10b also controls an actuator AC of a retractable door handle device HA to retract or extend the door handle DH.

[0030] The parking assist ECU 10c acquires various information (signals) from the on-board sensors 20 (described later) and the smartphone SP operated by the user. Based on this information, the parking assist ECU 10c controls the drive device 40, the braking device 50, and the steering device 60 (described later) to move the host vehicle.

[0031] The on-board sensors 20 include surrounding sensors that acquire information about targets present around the host vehicle. For example, the on-board sensors 20 include an ultrasonic sensor 21 and a camera 22 as surrounding sensors. Each sensor is connected to the parking assist ECU 10c by wire.

[0032] The ultrasonic sensor 21 intermittently emits ultrasonic waves to the area surrounding the vehicle and receives ultrasonic waves reflected by a three-dimensional object (reflected waves). The ultrasonic sensor 21 recognizes the distance between the vehicle and the three-dimensional object, the relative position (direction) of the three-dimensional object with respect to the vehicle, etc. based on the time from when the ultrasonic waves are transmitted until when the reflected waves are received, and transmits the recognition result to the parking assistance ECU 10c.

[0033] The camera 22 includes an imaging device and an image analysis device. The imaging device is, for example, a digital camera incorporating an imaging element such as a CCD (charge coupled device) or a CIS (CMOS image sensor). The imaging devices are installed at the front, rear, left side, and right side of the host vehicle. The imaging devices capture images of the surrounding area of ​​the host vehicle at a predetermined frame rate and acquire image data. The imaging device transmits each image data to the image analysis device. The image analysis device analyzes the acquired image data and acquires information about targets existing around the host vehicle from the images. For example, the image analysis device recognizes the shapes and colors of walls, fences, etc. of the parking spot PS, the pattern of the road surface, etc., and transmits the recognition results to the parking assistance ECU 10c.

[0034] Furthermore, the on-vehicle sensor 20 includes a switch 23. The switch 23 is an operating device for requesting the driver to start automatic parking control, which will be described later. The switch 23 includes, for example, a push-button type normally open switch device. The switch 23 may be an icon displayed on a display device with a built-in touch panel (not shown). The parking assist ECU 10c monitors the on / off state of the switch 23.

[0035] The communication device 30 is connected to the parking assistance ECU 10c by wire. The communication device 30 complies with a general-purpose wireless communication protocol. For example, the communication device 30 can wirelessly communicate with a smartphone SP that complies with the same wireless communication protocol. That is, the communication device 30 transmits data acquired from the parking assistance ECU 10c to the smartphone SP. The communication device 30 also supplies data received from the smartphone SP to the parking assistance ECU 10c. For example, the smartphone SP executes predetermined application software to function as a remote control device that remotely controls the vehicle. That is, the smartphone SP transmits a signal (a proceed permission signal, described later) for remotely controlling the vehicle in response to an operation by the user. This signal is transmitted to the parking assistance ECU 10c via a wireless communication line and the communication device 30.

[0036] The drive unit 40 applies drive force to the drive wheels (left front wheel, right front wheel, left rear wheel, and right rear wheel). The drive unit 40 includes an engine ECU, an internal combustion engine, a transmission, a drive force transmission mechanism that transmits drive force to the wheels, and the like. The internal combustion engine includes an actuator that drives a throttle valve. The engine ECU acquires information (control signal) indicating a target drive force from another ECU (parking assist ECU 10c), and drives the actuator of the internal combustion engine based on that information. In this way, the drive force applied to the drive wheels is controlled. The drive force generated by the internal combustion engine is transmitted to the drive wheels via the transmission and the drive force transmission mechanism. The engine ECU also acquires information (control signal) related to the shift position of the transmission from the other ECU, and drives the actuator of the transmission based on that information. In this way, the shift position of the transmission is controlled.

[0037] If the vehicle on which the parking assistance device 1 is installed is a hybrid vehicle (HEV), the engine ECU can control the driving force of the vehicle generated by either or both of an internal combustion engine and an electric motor as the vehicle driving source. Also, if the vehicle on which the parking assistance device 1 is applied is an electric vehicle (BEV), an electric motor ECU can be used instead of the engine ECU to control the driving force of the vehicle generated by an electric motor as the vehicle driving source.

[0038] The braking device 50 applies braking force to the wheels (brake discs). The braking device 50 includes a brake ECU, a brake caliper, etc. The brake caliper includes an actuator that presses brake pads against the brake discs. The brake ECU acquires information (control signal) indicating a target braking force from another ECU, and drives the actuator of the brake caliper based on that information. In this way, the braking force applied to the wheels (brake discs) is controlled.

[0039] The steering device 60 controls the steering angle of the steered wheels (left front wheel and right front wheel). The steering device 60 includes a steering ECU, a steering mechanism, etc. The steering mechanism is a link mechanism including a knuckle arm, a tie rod, etc. The steering device 60 further includes an actuator that drives the steering mechanism to change the steering angle. The steering ECU obtains information (control signal) indicating a target steering angle from another ECU, and drives the actuator based on that information. In this way, the steering angle of the steered wheels is controlled.

[0040] (Automatic storage function) The driver temporarily stops the vehicle near the parking spot PS where the vehicle is to be parked. At this stage, the door handle DH is retracted. The driver then presses the switch 23. This causes the parking assistance ECU 10c of the parking assistance device 1 to start executing the program PR for implementing the automatic parking function. That is, the parking assistance ECU 10c starts automatic parking control to automatically park the vehicle in the parking spot PS. Specifically, when the parking assistance ECU 10c detects that the switch 23 has been pressed, it acquires data from the ultrasonic sensor 21 and the camera 22 indicating the recognition results of targets existing around the vehicle. Then, based on the data acquired from the ultrasonic sensor 21 and the camera 22, the parking assistance ECU 10c identifies the parking spot PS where the vehicle will be parked and generates a map M1 including the parking spot PS shown in FIG. 4. The map M1 is a plan view showing the current position and attitude of the vehicle relative to the parking spot PS.

[0041] Next, the parking assistance ECU 10c sets a target position TP where the host vehicle is to be parked in the parking spot PS based on the map M1. The target position TP is the position of the center of gravity of the host vehicle when it is assumed that the host vehicle is parked. Next, the parking assistance ECU 10c sets (calculates) a route R (a target trajectory of the host vehicle's center of gravity) that allows the host vehicle to move to the target position TP while avoiding obstacles. Next, the parking assistance ECU 10c sets a control signal pattern (time-series data of control signals to be supplied to the drive device 40, the brake device 50, and the steering device 60, respectively) for moving the host vehicle along the route R.

[0042] The parking assistance ECU 10c reflects the target position TP and the route R in the map M1. The parking assistance ECU 10c displays the map M1 on an in-vehicle display device (not shown). This allows the user to confirm that there are no problems with the displayed route R, target position TP, etc.

[0043] Next, the user launches application software for remote control that has been pre-installed on the smartphone SP. This connects the smartphone SP to the parking assistance ECU 10c via a wireless communication line and the communication device 30. The smartphone SP then functions as a device for remotely controlling the vehicle. Specifically, the smartphone SP displays an image for remote control. This image includes, for example, a dial, which is an image of an operator for moving the vehicle along the route R, and an end button, which is an image for ending the automatic parking control.

[0044] When the communication device 30 is connected to the smartphone SP via a wireless communication line, the parking assistance ECU 10c controls the actuator AC via the door ECU 10b to unfold the driver's and passenger's side door handles DH (transition from the first state to the second state). When the door handles DH are unfolded, the transmitting antenna TA is positioned outward from the outer surface of the outer panel DPb. Therefore, as shown in FIG. 5, the reachable distance (solid line in the figure) of the first signal S1 (LF band radio waves) transmitted from the transmitting antenna TA in the second state is longer than the reachable distance (dashed line in the figure) of the first signal S1 when the door handles DH are retracted. Specifically, the reachable distance Δdmax of the first signal S1 in the second state is slightly longer than the threshold Δdth (6 meters (legal limit) which is the upper limit of the distance between the operator and the vehicle when remotely operating the vehicle).

[0045] The user gets out of their vehicle carrying the smart key SK and smartphone SP. When the user turns the dial displayed on the smartphone SP while outside the vehicle, the smartphone SP transmits a parking entry signal (progress permission signal) indicating that the vehicle should proceed along route R. The parking entry signal is transmitted while the user is rotating the dial. When the user stops rotating the dial, the parking entry signal is no longer transmitted.

[0046] The parking assistance ECU 10c sequentially acquires the distance Δd from the verification ECU 10a. Based on the distance Δd, the parking assistance ECU 10c determines whether the user is located within the operable range OA (the range where the distance Δd is equal to or less than the threshold value Δdth). When the user is located within the operable range OA and has received a parking entry signal, the parking assistance ECU 10c controls the host vehicle according to the control signal pattern described above. This causes the host vehicle to gradually proceed along the route R. When the distance Δd exceeds the threshold value Δdth or when the parking entry signal has not been received, the parking assistance ECU 10c temporarily stops the host vehicle. When the distance Δd exceeds the threshold value Δdth, the parking assistance ECU 10c displays an image indicating that the user has deviated from the operable range OA.

[0047] If, for example, a pedestrian, a bicycle, or the like approaches the host vehicle, the user can temporarily stop the host vehicle by stopping the dial. The parking assistance ECU 10c sequentially acquires recognition results of objects around the host vehicle from the ultrasonic sensor 21 and the camera 22 while moving the host vehicle along the route R. If the parking assistance ECU 10c detects an obstacle that may impede the movement of the host vehicle based on the above recognition results, it temporarily stops the host vehicle. In this case, the parking assistance ECU 10c displays an image indicating the presence of an obstacle on the smartphone SP. In this situation, the parking assistance ECU 10c is unable to receive the first signal S1. Therefore, even if the user operates the dial, the host vehicle will not move forward. When the obstacle moves away from the host vehicle and the host vehicle is able to move forward, the parking assistance ECU 10c becomes able to receive the first signal S1. If the duration of the state in which the obstacle does not move and the host vehicle cannot proceed along the route R exceeds a threshold, the parking assistance ECU 10c determines whether a new route R can be set that will allow the host vehicle to reach the target position TP while avoiding the obstacle. If a new route R can be set, the parking assistance ECU 10c temporarily displays the new route R on the smartphone SP. The parking assistance ECU 10c then becomes capable of receiving a first signal S1. The user can operate the dial to cause the host vehicle to proceed along the new route R. Note that the direction of rotation of the dial (clockwise or counterclockwise) does not matter. In other words, when the user rotates the dial clockwise or counterclockwise, the parking assistance ECU 10c controls the drive devices and the like in accordance with the control signal pattern.

[0048] When the host vehicle reaches the target position TP, the parking assist ECU 10c stops the host vehicle. Furthermore, the parking assist ECU 10c shifts the shift position to the parking position and activates the parking brake. In addition, the parking assist ECU 10c controls the actuator AC via the door ECU 10b to retract the door handle DH (shift from the second state to the first state). Then, the control unit 10 shifts the ignition switch of the host vehicle to the off state.

[0049] The parking assistance device 1 terminates the execution of the automatic parking control when a predetermined termination condition is met during the automatic parking control. Specifically, the termination condition is met when the user taps the termination button. The termination condition is also met when the user gets into the vehicle and starts operating the operation device of the vehicle. The termination condition is also met when the duration of the state in which the user deviates from the operable range OA exceeds a threshold. The termination condition is also met when the duration of the state in which communication between the parking assistance ECU 10c and the smartphone SP is interrupted (a state in which the user does not operate the smartphone SP) exceeds a threshold.

[0050] Next, with reference to FIG. 6, a program PR executed by the CPU (hereinafter simply referred to as "CPU") of the parking assist ECU 10c to realize the above-described automatic parking function will be specifically described.

[0051] When the CPU detects that the switch 23 has been pressed, it starts executing the program PR from step 100 and proceeds to step 101.

[0052] When the CPU proceeds to step 101, the CPU sets a target position TP and a route R based on information acquired from the on-board sensor 20. Then, the CPU proceeds to step .

[0053] When the CPU proceeds to step 102, it determines whether the communication device 30 is connected (paired) with the smartphone SP via a wireless communication line. If the communication device 30 is connected to the smartphone SP (102: Yes), the CPU proceeds to step 103. On the other hand, if the communication device 30 has not yet been connected to the smartphone SP (102: No), the CPU returns to step 102.

[0054] When the CPU proceeds to step 103, it controls the actuator AC via the door ECU 10b to unfold the door handle DH. Then, the CPU proceeds to step 104.

[0055] When the CPU proceeds to step 104, it acquires the distance Δd from the verification ECU 10a and determines whether the distance Δd is equal to or less than the threshold value Δdth. If the distance Δd is equal to or less than the threshold value Δdth (104: Yes), the CPU proceeds to step 105. On the other hand, if the distance Δd exceeds the threshold value Δdth (104: No), the CPU causes the smartphone SP to execute a predetermined alarm (display an image and speak a hoarse voice to notify the user that they have deviated from the operable range OA), and proceeds to step 110, which will be described later.

[0056] When the CPU proceeds to step 105, it determines whether or not it has received an entry signal (proceeding permission signal) from the smartphone SP. If the CPU has received an entry signal (105: Yes), the CPU proceeds to step 106. On the other hand, if the CPU has not received an entry signal (105: No), the CPU proceeds to step 110.

[0057] When the CPU proceeds to step 106, it controls the drive device and the like in accordance with the control signal pattern to cause the host vehicle to travel along the route R. Then, the CPU proceeds to step 107.

[0058] When the CPU proceeds to step 107, it determines whether or not the host vehicle has reached the target position TP. If the host vehicle has reached the target position TP (107: Yes), the CPU proceeds to step 108. On the other hand, if the host vehicle has not yet reached the target position TP (107: No), the CPU proceeds to step 110.

[0059] When the CPU proceeds to step 108, it parks the vehicle. That is, the CPU stops the vehicle, shifts the shift position to the parking position, and activates the parking brake. Then, the CPU shifts the ignition switch to the off state, and proceeds to step 109.

[0060] When the CPU proceeds to step 109, it controls the actuator AC via the door ECU 10b to retract the door handle DH. Then, the CPU proceeds to step 111 to end the execution of the program PR.

[0061] When the CPU proceeds to step 110, it determines whether or not the termination condition is met. If the termination condition is met (110: Yes), the CPU proceeds to step 111 and terminates the execution of the program PR. If the termination condition is not met (110: No), the CPU returns to step 104.

[0062] (Automatic retrieval function) As described above, the parking assistance device 1 can remotely control the host vehicle to enter the parking spot PS (automatic entry control). In addition, the parking assistance device 1 can remotely control the host vehicle to leave the parking spot PS (automatic exit control). Specifically, the parking assistance device 1 is configured so that the user can switch the host vehicle's ignition switch from an OFF state to an ON state by operating the smartphone SP (or smart key SK). When the parking assistance ECU 10c detects that the ignition switch has been remotely switched ON, the parking assistance ECU 10c sets a position within the area near the parking spot PS where the host vehicle can be temporarily stopped as a target position TP based on information acquired from the on-board sensor 20, and also sets a route R leading to the target position TP. Then, the parking assistance ECU 10c controls the actuator AC via the door ECU 10b to deploy the door handle DH. After this, the parking assistance ECU 10c detects the user's position (distance Δd) in the same manner as in the entrance control, and if the distance Δd is equal to or less than the threshold Δdth, executes control (exit control) to move the host vehicle along the route R in accordance with the mode of remote operation (proceeding permission signal) of the smartphone SP by the user. When the host vehicle reaches the target position TP, the parking assistance ECU 10c temporarily stops the host vehicle. In this case, it is highly likely that the user will open the door DR to get into the host vehicle. Therefore, the parking assistance ECU 10c keeps the door handle DH unfolded.

[0063] (effect) As described above, when executing parking entry control and parking exit control, the parking assistance ECU 10c communicates with the smart key SK carried by the user located outside the vehicle via the transmitting antenna TA built into the door handle DH to obtain the distance Δd between the user and the vehicle. At this time, the parking assistance device 1 unfolds the door handle DH. This positions the transmitting antenna TA outward from the outer surface of the outer panel DPb. Therefore, the signal (LF band radio waves) transmitted from the transmitting antenna TA is radiated outward from the vehicle without being blocked by the door panel DP. Therefore, according to this embodiment, the communication distance (reachable distance of the first signal S1) between the parking assistance ECU 10c (communication device 30) and the smart key SK can be set to a necessary and sufficient length.

[0064] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention.

[0065] (Variation 1) In the above embodiment, the receiving antenna RA is disposed inside the vehicle compartment, but the receiving antenna RA may also be disposed inside the door handle DH.

[0066] (Variation 2) In the above embodiment, the smart key SK, which is a device for detecting the distance Δd, and the smartphone SP, which is a device for transmitting the travel permission signal, are separate entities. Alternatively, for example, a terminal having a function for detecting the distance Δd and a function for remotely controlling the vehicle may be employed. [Explanation of symbols]

[0067] 1...Parking assistance device, 10...Control unit, 10a...Verification ECU, 10b...Door ECU 10, 10c...Automatic parking ECU, 20...In-vehicle sensor, 30...Communication device, 40...Drive device, 50...Braking device, 60...Steering device, SK...Smart key, SP...Smartphone, DH...Door handle, TA...Transmitting antenna

Claims

1. A parking assistance device mounted on a host vehicle equipped with a retractable door handle device including: a door handle with a built-in antenna for communicating with a terminal carried by a user located outside the host vehicle; and an actuator that transitions the door handle from a first state in which the door handle is retracted within a door panel to a second state in which a portion of the door handle with the built-in antenna protrudes outside the door panel, a processor that communicates with the terminal using the antenna, and that, when a predetermined condition related to the result of the communication is satisfied, executes entry control for causing the vehicle to enter a parking spot and / or exit control for causing the vehicle to exit the parking spot; The parking assistance device is configured such that, when the processor is connected to the terminal and becomes capable of communication, it transitions the door handle to the second state, and when the predetermined condition is satisfied, it executes the entry control and / or the exit control.

2. 2. The parking assistance device according to claim 1, The processor is configured to transmit a first signal from the antenna to the terminal, and then acquire a second signal from the terminal that indicates the strength of the first signal received by the terminal, and determine that the predetermined condition is met if the strength of the first signal indicated by the second signal is equal to or greater than a threshold and a proceed permission signal indicating that the vehicle is allowed to proceed is received.

3. 3. The parking assistance device according to claim 1, The parking assistance device is configured such that the processor transitions the door handle to the first state when the parking entry control is completed.

4. 4. The parking assistance device according to claim 3, The parking assistance device is configured such that the processor maintains the door handle in the second state when the parking exit control is terminated.

5. A parking assistance method applied to a host vehicle equipped with a retractable door handle device including: a door handle with a built-in antenna for communicating with a terminal carried by a user located outside the host vehicle; and an actuator that transitions the door handle from a first state in which the door handle is retracted within a door panel to a second state in which a portion of the door handle with the built-in antenna protrudes outside the door panel, a parking assistance step of communicating with the terminal using the antenna, and causing a processor included in the vehicle to execute entry control for causing the vehicle to enter a parking spot and / or exit control for causing the vehicle to exit the parking spot when a predetermined condition related to the result of the communication is satisfied, the predetermined condition being for determining that the vehicle is permitted to proceed; The parking assistance step includes a step of transitioning the door handle to the second state when the processor is connected to the terminal and becomes capable of communication, and executing the entrance control and / or the exit control when the predetermined condition is satisfied.

6. a retractable door handle device including: a door handle with a built-in antenna for communicating with a terminal carried by a user located outside the vehicle; and an actuator that transitions the door handle from a first state in which the door handle is retracted within a door panel to a second state in which a portion of the door handle with the built-in antenna protrudes outside the door panel; a parking assistance device including a processor that communicates with the terminal using the antenna, and that, when a predetermined condition related to the result of the communication is satisfied, executes entry control for causing the vehicle to enter a parking spot and / or exit control for causing the vehicle to exit the parking spot; A vehicle equipped with The vehicle is configured such that, when the processor is connected to the terminal and becomes capable of communication, it transitions the door handle to the second state, and when the predetermined condition is satisfied, it executes the entry control and / or the exit control.

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