Parking assistance device, parking assistance method, and non-transitory storage medium

Abstract

The parking assisting device (34) of the present invention comprises an acquiring unit (71), a detecting unit (72) and a parking assisting unit (74). When the vehicle (10) is required to turn back when a portion of the vehicle (10) has entered a parking area, the parking assisting unit (74) turns back the vehicle (10) when a protrusion amount of an end portion of the vehicle (10) that has partially entered the parking area toward the outside of the parking area relative to the entrance of the parking area is less than a threshold value, regardless of whether a condition for turning back the vehicle (10) is satisfied.

Description

Technical Field

[0001] The present invention relates to a parking assistance device, a parking assistance method, and a non-transitory storage medium. Background Art

[0002] A parking assist device for controlling a vehicle to park the vehicle in a parking area is known. As a parking method assisted by such a parking assist device, parallel parking is provided.

[0003] Generally, in parallel parking, the following vehicle of the parked vehicle stops in the passageway in front of the parking area before the parking is completed. However, when the turning position of the vehicle is set relatively far back in the parking area and the vehicle is completely inside the parking area, there is a concern that the driver of the following vehicle may think that the parking is complete and move the following vehicle forward, and the following vehicle may pass in front of the vehicle in the turning motion. Summary of the invention

[0004] Therefore, the present invention provides a parking assist device, a parking assist method, and a non-transitory storage medium capable of improving the safety of parallel parking.

[0005] A parking assist device according to a first aspect of the present invention includes: an acquisition unit that acquires information about the periphery of a vehicle, i.e., periphery information; a detection unit that detects a parking area of ​​the vehicle based on the periphery information acquired by the acquisition unit; and a parking assist unit that calculates a parking target position of the vehicle included in the parking area of ​​the vehicle and a moving path for moving the vehicle to the parking target position, and moves the vehicle to the parking target position along the moving path. When the parking of the vehicle is parallel parking and the vehicle needs to turn around in a state where a part of the vehicle enters the parking area, the parking assist unit turns around the vehicle when a protrusion amount of an end portion of the vehicle that has partially entered the parking area relative to an entrance side of the parking area to the outside of the parking area is less than a threshold value, regardless of whether a condition for turning around the vehicle is satisfied.

[0006] According to this parking assistance device, for example, when the amount of protrusion of the end portion on the entrance side of the parking area outward from the parking area is less than a threshold value, the parking assistance unit turns the vehicle back regardless of whether the conditions for turning back of the vehicle are satisfied, and thus it is possible to notify the surroundings of the vehicle that the parking action is continuing. This can improve the safety of parallel parking.

[0007] In the above aspect, the condition for the vehicle to turn back may include that the reliability of the parking target position reaches a predetermined standard.

[0008] According to this parking assisting device, for example, even when the reliability of the parking target position does not reach a predetermined standard, the vehicle can be turned back.

[0009] In the above aspect, the condition for the vehicle to turn around may include that the vehicle reaches a turning position set in the movement path.

[0010] According to such a parking assist device, for example, even when the vehicle has not reached a set turning position, the vehicle can be turned back.

[0011] The parking assistance method involved in the second embodiment of the present invention includes: an acquisition unit acquires information about the surroundings of the vehicle, namely, surrounding information; a detection unit detects a parking area of ​​the vehicle based on the surrounding information acquired by the acquisition unit; a parking assistance unit calculates a parking target position of the vehicle included in the parking area of ​​the vehicle and a moving path for moving the vehicle to the parking target position, and moves the vehicle to the parking target position according to the moving path; and the parking assistance unit turns the vehicle around when the parking of the vehicle is parallel parking and the vehicle needs to turn around when a part of the vehicle enters the parking area, when the protrusion amount of the end part of the vehicle on the entrance side of the parking area to the outside of the parking area is less than a threshold value, regardless of whether the turning-around condition of the vehicle is satisfied.

[0012] According to this parking assistance method, for example, when the amount of protrusion of the end portion on the entrance side of the parking area outward from the parking area is less than a threshold value, the parking assistance unit turns the vehicle back regardless of whether the conditions for turning back of the vehicle are satisfied, and thus it is possible to notify the surroundings of the vehicle that the parking action is continuing. This can improve the safety of parallel parking.

[0013] The non-transitory storage medium involved in the third aspect of the present invention stores commands that can be executed by one or more processors and cause the above-mentioned one or more processors to execute the following functions, namely: an acquisition unit acquires information about the surroundings of the vehicle, that is, surrounding information; a detection unit detects the parking area of ​​the above-mentioned vehicle based on the above-mentioned surrounding information acquired by the above-mentioned acquisition unit; a parking assistance unit calculates the parking target position of the above-mentioned vehicle included in the parking area of ​​the above-mentioned vehicle and a moving path for moving the above-mentioned vehicle to the above-mentioned parking target position, and moves the above-mentioned vehicle to the above-mentioned parking target position according to the above-mentioned moving path; and the above-mentioned parking assistance unit turns the above-mentioned vehicle around when the parking of the above-mentioned vehicle is parallel parking and the above-mentioned vehicle needs to turn around when a part of the above-mentioned vehicle enters the above-mentioned parking area. When the protrusion amount of the end part of the above-mentioned vehicle on the entrance side of the above-mentioned parking area to the outside of the above-mentioned parking area is less than a threshold value, the above-mentioned vehicle turns around regardless of whether the conditions for the vehicle to turn around are met.

[0014] According to such a non-transitory storage medium, for example, the parking assist unit turns the vehicle back when the amount of protrusion of the end portion on the entrance side of the parking area outward is less than a threshold value regardless of whether the conditions for turning back of the vehicle are met, and thus it is possible to notify the surroundings of the vehicle that the parking action is continuing. This can improve the safety of parallel parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Features, advantages, technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0016] Figure 1 It is a top view of a vehicle equipped with the parking assist system according to the embodiment.

[0017] Figure 2 It is a block diagram showing the overall configuration of the parking assistance system according to the embodiment.

[0018] Figure 3 This is a functional block diagram for explaining the functions of the parking assistance device according to the embodiment.

[0019] Figure 4 It is a plan view of the periphery of the vehicle during parking assistance according to the embodiment.

[0020] Figure 5 It is a plan view of the periphery of the vehicle during parking assistance according to the embodiment.

[0021] Figure 6 This is a flowchart of a parking assistance process executed by the parking assistance device according to the embodiment.

[0022] Figure 7This is a flowchart of a process related to turn-around in the parking assistance process executed by the parking assistance device according to the embodiment.

[0023] Figure 8 It is an explanatory diagram for explaining the reliability of the parking target position according to the embodiment.

[0024] Fig. 9 It is an explanatory diagram for explaining the reliability of the parking target position according to the embodiment. DETAILED DESCRIPTION

[0025] Hereinafter, exemplary embodiments of the present invention are disclosed. The structure of the embodiment shown below, and the action, result, and effect brought about by the structure are an example. The present invention can also be implemented by structures other than the structures disclosed in the following embodiments, and at least one of the various effects and derived effects based on the basic structure can be obtained.

[0026] Figure 1 1 is a top view of a vehicle 10 equipped with a parking assist system 20 according to an embodiment. The vehicle 10 may be, for example, a vehicle (internal combustion vehicle) using an internal combustion engine (engine, not shown) as a driving source, a vehicle (electric vehicle, fuel cell vehicle, etc.) using an electric motor (motor, not shown) as a driving source, or a vehicle (hybrid vehicle) using both of them as driving sources. In addition, the vehicle 10 may be equipped with various transmission devices and various devices (systems, components, etc.) required to drive the internal combustion engine and the electric motor. In addition, the method, number, and layout of the devices related to the driving of the wheels 13 in the vehicle 10 may be variously set.

[0027] like Figure 1 As shown, the vehicle 10 includes a vehicle body 12, four wheels 13, one or more (four in this embodiment) imaging units 14a, 14b, 14c, 14d, and one or more (eight in this embodiment) distance measuring units 16a, 16b, 16c, 16d, 16e, 16f, 16g, 16h, 16i, 16j, 16k, 16l. When it is not necessary to distinguish the imaging units 14a, 14b, 14c, 14d, they are described as imaging units 14. When it is not necessary to distinguish the distance measuring units 16a, 16b, 16c, 16d, 16e, 16f, 16g, 16h, 16i, 16j, 16k, 16l, they are described as distance measuring units 16.

[0028] The vehicle body 12 constitutes a vehicle compartment in which passengers ride. The vehicle body 12 houses or holds wheels 13, an imaging unit 14, a distance measuring unit 16, and the like.

[0029] The four wheels 13 are provided at the front, rear, left, and right of the vehicle body 12. For example, the two front wheels 13 function as steering wheels, and the two rear wheels 13 function as drive wheels.

[0030] The photographing unit 14 is, for example, a digital camera with a built-in photographing element such as a CCD (Charge Coupled Device) or a CIS (CMOS Image Sensor). The photographing unit 14 outputs data of a dynamic image or a static image including a plurality of frame images generated at a predetermined frame rate as data of a photographed image. The photographing unit 14 has a wide-angle lens or a fisheye lens, for example, capable of photographing a range of 140° to 190° in the horizontal direction. The optical axis of the photographing unit 14 is set to face obliquely downward. Therefore, the photographing unit 14 outputs data of a photographed image of the surroundings of the vehicle 10 including the surrounding road surface.

[0031] The imaging unit 14 is provided at the outer periphery of the vehicle body 12. For example, the imaging unit 14a is provided at the center of the front end portion of the vehicle body 12 in the left-right direction (for example, the front bumper). The imaging unit 14a generates an image of the surrounding area in front of the vehicle 10. The imaging unit 14b is provided at the center of the rear end portion of the vehicle body 12 in the left-right direction (for example, the rear bumper). The imaging unit 14b generates an image of the surrounding area behind the vehicle 10. The imaging unit 14c is provided at the center of the front-back direction of the left end portion of the vehicle body 12 (for example, the left rearview mirror 12a). The imaging unit 14c generates an image of the surrounding area on the left side of the vehicle 10. The imaging unit 14d is provided at the center of the front-back direction of the right end portion of the vehicle body 12 (for example, the right rearview mirror 12b). The imaging unit 14d generates an image of the surrounding area on the right side of the vehicle 10.

[0032] The distance measuring unit 16 is, for example, a sonar that is provided at the outer periphery of the vehicle 10, transmits sound waves including ultrasonic waves as detection waves, and captures detection waves reflected by other vehicles or other objects existing around the vehicle 10. In addition, the distance measuring unit 16 may also be a radar or a millimeter wave radar that outputs detection waves such as lasers. The distance measuring unit 16 detects information about the periphery of the vehicle 10, that is, detection information, and outputs it to the parking assistance device 34. For example, the distance measuring unit 16 detects the time from the transmission of the detection wave to the reception of the detection wave, that is, the response time, as detection information for determining the position of the object. In addition, when the distance measuring unit 16 receives multiple detection waves reflected by multiple parts of the object for one transmission of the detection wave, only the response time of the earliest received detection wave may be included in the detection information. The parking assistance device 34 can determine the presence or absence of objects such as obstacles around the vehicle 10 and the distance to the object based on the detection results of the distance measuring unit 16. The distance measuring unit 16 is also called a detection unit.

[0033] The distance measuring units 16a, 16b, 16c, and 16d are also called side sonars, and are provided on the left and right sides of the vehicle 10. The distance measuring units 16a, 16b, 16c, and 16d detect objects on the sides of the vehicle 10 and output detection information. The distance measuring units 16e and 16f are also called corner sonars, and are provided at the rear of the vehicle 10 (for example, near the corner of the vehicle 10) than the distance measuring units 16a, 16b, 16c, and 16d, and face rearward (for example, outside the rear) than the distance measuring units 16a, 16b, 16c, and 16d. The distance measuring units 16e and 16f detect objects obliquely behind the vehicle 10 and output detection information. The distance measuring units 16g and 16h are also called corner sonars, and are disposed at the front of the vehicle 10 (for example, near the corner of the vehicle 10) compared to the distance measuring units 16a, 16b, 16c, and 16d, and face forward (for example, outside the front) compared to the distance measuring units 16a, 16b, 16c, and 16d. The distance measuring units 16g and 16h detect objects obliquely in front of the vehicle 10 and output detection information. The distance measuring units 16i and 16j are also called rear sonars, and are disposed at the rear end of the vehicle 10. The distance measuring units 16i and 16j detect objects behind the vehicle 10 and output detection information. The distance measuring units 16k and 16l are also called front sonars, and are disposed at the front end of the vehicle 10. The distance measuring units 16k and 16l detect objects in front of the vehicle 10 and output detection information.

[0034] Specifically, the distance measuring unit 16a is provided at a position in front of the left side of the vehicle 10. The distance measuring unit 16a faces the left direction. The distance measuring unit 16a outputs detection information about an object existing in a detection area on the left side of the front side of the vehicle 10.

[0035] The distance measuring unit 16b is provided at a position behind the left side of the vehicle 10. The distance measuring unit 16b faces the left direction. The distance measuring unit 16b outputs detection information about an object existing in a detection area on the left side of the rear side of the vehicle 10.

[0036] The distance measuring unit 16c is provided at a position in front of the right side of the vehicle 10. The distance measuring unit 16c faces rightward and outputs detection information on an object existing in a detection area on the right side of the front side of the vehicle 10.

[0037] The distance measuring unit 16d is provided at a rear side of the right side of the vehicle 10. The distance measuring unit 16d faces rightward and outputs detection information on an object existing in a detection area on the right side of the rear side of the vehicle 10.

[0038] The distance measuring unit 16e is provided at a position on the left side of the rear end portion of the vehicle 10. The distance measuring unit 16e faces the left rear. The distance measuring unit 16e outputs detection information on an object existing in a detection area behind the left side of the vehicle 10.

[0039] The distance measuring unit 16f is provided at a position on the right side of the rear end portion of the vehicle 10. The distance measuring unit 16f faces the right rear direction. The distance measuring unit 16f outputs detection information on an object existing in a detection area behind the right side of the vehicle 10.

[0040] The distance measuring unit 16g is provided at a position on the left side of the front end of the vehicle 10. The distance measuring unit 16g faces the left front. The distance measuring unit 16g outputs detection information on an object existing in a detection area in the left front of the vehicle 10.

[0041] The distance measuring unit 16h is provided at a position on the right side of the front end of the vehicle 10. The distance measuring unit 16h faces the right front. The distance measuring unit 16h outputs detection information on an object existing in a detection area in the right front of the vehicle 10.

[0042] The distance measuring units 16i and 16j are provided between the distance measuring units 16e and 16f at a distance from each other in the left-right direction at the rear end of the vehicle 10. The distance measuring units 16i and 16j face rearward and output detection information on objects existing in the detection area behind the vehicle 10.

[0043] The distance measuring units 16k and 161 are provided in front of the distance measuring units 16g and 16h at a distance from each other in the left-right direction at the front end of the vehicle 10. The distance measuring units 16k and 161 face forward and output detection information about objects existing in the detection area in front of the vehicle 10.

[0044] Figure 2 1 is a block diagram showing the overall configuration of the parking assistance system 20 according to the embodiment. The parking assistance system 20 is mounted on the vehicle 10 and assists driving of the vehicle 10 by automatic driving (including partial automatic driving) according to objects around the vehicle 10.

[0045] like Figure 2 As shown, the parking assistance system 20 includes an imaging unit 14 , a distance measuring unit 16 , a braking system 22 , an acceleration system 24 , a steering system 26 , a transmission system 28 , a vehicle speed sensor 30 , a monitoring device 32 , a parking assistance device 34 , and an in-vehicle network 36 .

[0046] The brake system 22 controls the deceleration of the vehicle 10. The brake system 22 includes a brake unit 40, a brake control unit 42, and a brake unit sensor 44.

[0047] The brake unit 40 includes, for example, a brake and a brake pedal, and is a device for decelerating the vehicle 10 .

[0048] The brake control unit 42 is a computer such as a microcomputer having a hardware processor such as a CPU (Central Processing Unit) and controls the brake unit 40 based on an instruction from the parking assist device 34 to control the deceleration of the vehicle 10 .

[0049] The brake sensor 44 is, for example, a position sensor, and when the brake 40 is a brake pedal, detects the position of the brake 40 . The brake sensor 44 outputs the detected position of the brake 40 to the in-vehicle network 36 .

[0050] The acceleration system 24 controls acceleration of the vehicle 10. The acceleration system 24 includes an acceleration unit 46, an acceleration control unit 48, and an acceleration unit sensor 50.

[0051] The acceleration unit 46 includes, for example, an accelerator pedal and the like, and is a device for accelerating the vehicle 10 .

[0052] The acceleration control unit 48 is a computer such as a microcomputer having a hardware processor such as a CPU (Central Processing Unit). The acceleration control unit 48 controls the acceleration unit 46 based on an instruction from the parking assist device 34 to control the acceleration of the vehicle 10 .

[0053] The accelerator sensor 50 is, for example, a position sensor, and when the accelerator 46 is an accelerator pedal, detects the position of the accelerator 46. The accelerator sensor 50 outputs the detected position of the accelerator 46 to the in-vehicle network 36.

[0054] The steering system 26 controls the traveling direction of the vehicle 10. The steering system 26 includes a steering unit 52, a steering control unit 54, and a steering unit sensor 56.

[0055] The steering unit 52 includes, for example, a handle or a steering wheel, and is a device for steering the steering wheels of the vehicle 10 to steer the traveling direction of the vehicle 10 .

[0056] The steering control unit 54 is a computer such as a microcomputer having a hardware processor such as a CPU (Central Processing Unit). The steering control unit 54 controls the steering unit 52 based on an instruction from the parking assist device 34 to control the traveling direction of the vehicle 10 .

[0057] The steering sensor 56 is an example of a third detection unit, and is an angle sensor including a Hall element, for example, and detects the steering angle, which is the rotation angle of the steering unit 52. The steering sensor 56 outputs the detected steering angle of the steering unit 52 to the in-vehicle network 36.

[0058] The transmission system 28 controls the speed ratio of the vehicle 10. The transmission system 28 includes a transmission unit 58, a transmission control unit 60, and a transmission unit sensor 62.

[0059] The speed change unit 58 includes, for example, a shift lever and the like, and is a device for changing the speed ratio of the vehicle 10 .

[0060] The speed change control unit 60 is a computer such as a microcomputer having a hardware processor such as a CPU (Central Processing Unit). The speed change control unit 60 controls the speed change unit 58 based on an instruction from the parking assist device 34 to control the speed ratio of the vehicle 10 .

[0061] The speed change unit sensor 62 is, for example, a position sensor, and when the speed change unit 58 is a shift lever, detects the position of the speed change unit 58. The speed change unit sensor 62 outputs the detected position of the speed change unit 58 to the in-vehicle network 36.

[0062] The vehicle speed sensor 30 is, for example, a sensor having a Hall element provided near the wheel 13 of the vehicle 10, and detecting the rotation amount or the rotation speed per unit time of the wheel 13. The vehicle speed sensor 30 outputs the detected rotation amount or the number of wheel speed pulses indicating the rotation speed as a sensor value for calculating the vehicle speed to the in-vehicle network 36. The parking assist device 34 can calculate the speed (vehicle speed), the movement amount, etc. of the vehicle 10 based on the sensor value obtained from the wheel speed sensor 30.

[0063] The monitoring device 32 is installed on a dashboard or the like in the interior of the vehicle 10. The monitoring device 32 includes a display unit 64, a sound output unit 66, and an operation input unit 68.

[0064] The display unit 64 displays an image based on the image data sent from the parking assist device 34. The display unit 64 is, for example, a display device such as a liquid crystal display (LCD) or an organic electroluminescent display (OELD). The display unit 64 displays, for example, an image that receives an operation instruction to switch between automatic driving and manual driving.

[0065] The sound output unit 66 outputs sound based on the sound data transmitted from the parking assist device 34. The sound output unit 66 is, for example, a speaker. The sound output unit 66 outputs sound related to an operation instruction to switch between automatic driving and manual driving, for example.

[0066] The operation input unit 68 receives input from the passenger. The operation input unit 68 is, for example, a touch panel. The operation input unit 68 is provided on the display screen of the display unit 64. The operation input unit 68 is configured to transmit the image displayed on the display unit 64. Thus, the operation input unit 68 enables the passenger to visually confirm the image displayed on the display screen of the display unit 64. The operation input unit 68 receives an instruction input by the passenger touching a position corresponding to the image displayed on the display screen of the display unit 64, and transmits it to the parking assist device 34. In addition, the operation input unit 68 is not limited to a touch panel, and may also be a hard switch such as a button type.

[0067] The parking assist device 34 is a computer including a microcomputer such as an electronic control unit (Electronic Control Unit), and performs parking assist for the vehicle 10 .

[0068] The parking assist device 34 includes a CPU (Central Processing Unit) 34a, a ROM (Read Only Memory) 34b, a RAM (Random Access Memory) 34c, a display control unit 34d, a sound control unit 34e, and an SSD (Solid State Drive) 34f. The CPU 34a, ROM 34b, and RAM 34c may be integrated in the same package.

[0069] The CPU 34 a is an example of a hardware processor, and reads a program stored in a nonvolatile storage device such as the ROM 34 b and executes various calculation processes and controls according to the program. For example, the CPU 34 a executes parking assistance based on automatic driving of the vehicle 10 .

[0070] The ROM 34b stores various programs and parameters necessary for executing the programs. The RAM 34c temporarily stores various data used in the calculations by the CPU 34a. The display control unit 34d mainly performs image processing of images obtained by the imaging unit 14 and data conversion of images for display displayed on the display unit 64 in the calculation processing by the parking assistance device 34. The sound control unit 34e mainly performs sound processing to be output by the sound output unit 66 in the calculation processing by the parking assistance device 34. The SSD 34f is a rewritable nonvolatile storage device that maintains data even when the power supply of the parking assistance device 34 is turned off.

[0071] The in-vehicle network 36 includes, for example, CAN (Controller Area Network) and LIN (Local Interconnect Network), etc. The in-vehicle network 36 connects the acceleration system 24, the braking system 22, the steering system 26, the transmission system 28, the distance measuring unit 16, the vehicle speed sensor 30, the operation input unit 68 of the monitoring device 32, and the parking assist device 34 so that they can send and receive information to each other.

[0072] Figure 3 is a functional block diagram for explaining the functions of the parking assist device 34. Figure 3 As shown, the parking assisting device 34 includes an acquisition unit 71, a detection unit 72, an operation accepting unit 73, and a parking assisting unit 74. In addition, the parking assisting unit 74 includes a target position calculating unit 74a, a path calculating unit 75b, and a movement control unit 76c. The acquisition unit 71, the detection unit 72, the operation accepting unit 73, and the parking assisting unit 74 are implemented by the CPU 34a reading and executing a program (parking program) stored in a storage device such as a ROM 34b. In addition, part or all of the acquisition unit 71, the detection unit 72, the operation accepting unit 73, and the parking assisting unit 74 may be constituted by hardware such as a circuit including an ASIC (Application Specific Integrated Circuit).

[0073] The acquisition unit 71 acquires surrounding information, which is information about the surroundings of the vehicle 10. Specifically, the acquisition unit 71 acquires a captured image from the imaging unit 14 and acquires detection information from the imaging unit 14 as the surrounding information.

[0074] The detection unit 72 detects obstacles around the vehicle, parking spaces, and the parking area PA ( Figure 5 )wait.

[0075] Obstacles include, for example, other vehicles, walls, pillars, fences, protrusions, steps, wheel brakes, objects, etc. In addition, obstacles include, for example, people walking in a parking lot, etc. The detection unit 72 can detect the presence, height, size, etc. of obstacles using various methods. The detection unit 72 can detect obstacles based on the detection results of the distance measuring unit 16, for example. In addition, the distance measuring unit 16 can detect objects corresponding to the height of the beam, but cannot detect objects lower than the height of the beam. Thus, based on the detection results of the distance measuring unit 16 and the heights of each beam, the detection unit 72 can detect the height of the obstacle. In addition, the detection unit 72 can also detect the presence or height of the obstacle based on the detection results of the vehicle speed sensor 30, the acceleration sensor not shown, and the detection results of the distance measuring unit 16. In addition, the detection unit 72 can also detect the shape of the height of the obstacle, etc., by image processing based on the image captured by the shooting unit 14.

[0076] In addition, the parking area is set as a sign or an object. The parking area refers to a standard or a reference area set in order to park the vehicle 10 at the position. In addition, the parking boundary is the boundary or outer edge of the parking area, such as a parking area line, a frame line, a straight line, a belt, a step, their edges, etc. That is, the parking boundary is a sign, an object, etc. The detection unit 72 can detect the parking area and the parking boundary, for example, by image processing based on the image captured by the imaging unit 14. In addition, the detection unit 72 can determine whether the detected parking area can be parked by the vehicle 10 using various methods. For example, when the detection unit 72 does not detect an obstacle that hinders the parking of the vehicle 10 in the parking area, it determines that the parking area can be parked. That is, the detection unit 72 can detect the parking area that can be parked as the parking area. The detection unit 72 can detect the parking area that can be parked behind the vehicle 10, the left and right sides of the vehicle 10, and the front of the vehicle 10. That is, the detection unit 72 can detect parking spaces around the vehicle 10 that can be parked around the entire circumference of the vehicle 10. Here, the rear of the vehicle 10 is, in other words, an area located behind the vehicle 10 in the front-rear direction of the vehicle 10. In addition, the entire circumference of the vehicle 10 is an area around the vehicle 10 around the center line of the vehicle 10 extending in the up-down direction of the vehicle 10.

[0077] The operation receiving unit 73 acquires (receives) a signal from the operation input unit 68 in accordance with an operation on the operation input unit 68 .

[0078] The parking assist unit 74 calculates the parking target position of the vehicle 10 included in the parking area of ​​the vehicle 10 and the movement path for moving the vehicle 10 to the parking target position by controlling all or part of the systems 22, 24, 26, and 28 based on the determined object, and moves the vehicle 10 to the parking target position according to the movement path. That is, the parking assist unit 74 assists the parking of the vehicle 10.

[0079] The target position calculation unit 74a of the parking assist unit 74 calculates (determines) the moving target position of the vehicle 10, which is the standard or target position for guiding the vehicle 10, or in other words, the parking target position, based on the detection result of the detection unit 72, for example, by a known method or the like. The parking target position may be the end point of the moving path or the middle of the moving path. The target position may be set as, for example, a point, a line, a frame, an area, etc. The target position may also be the same as the display position. The target position calculation unit 74a is also called a target position determination unit.

[0080] The path calculation unit 75b of the parking assist unit 74 calculates a movement path for moving the vehicle 10 from the current position of the vehicle 10 to the parking target position included in the parking area. The path calculation unit 75b sets the movement path using a known method, for example, based on the current position of the vehicle 10, the determined parking target position, the obstacle detection result, and the like.

[0081] The movement control unit 76c controls each part of the vehicle 10 to control the movement of the vehicle 10. Specifically, the movement control unit 76c controls the movement of the vehicle 10 by controlling all or part of each system 22, 24, 26, 28. The movement control unit 76c moves the vehicle 10 to the parking target position PP according to the movement path. At this time, the movement control unit 76c makes the reference point 10a ( Figure 1 ) so as to match the parking target position PP. The reference point 10a of the vehicle 10 is, for example, the center of the rear wheel axle of the vehicle 10.

[0082] Furthermore, the movement control unit 76 c may control the monitoring device 32 and the audio output unit 66 to guide the driver on the movement of the vehicle 10 along the movement path through display output and audio output according to the position of the vehicle 10 .

[0083] Next, a description will be given of a parallel parking assist process which is one of the parking assist processes performed by the parking assist device 34. The parallel parking assist process is a process for assisting parallel parking as a parking method of the vehicle 10, and here is an example of backing up the vehicle 10 toward the parking area and parking it in the parking area.

[0084] Figure 4 and Figure 5 FIG. 1 is a top view of the periphery of the vehicle 10 in the parking assistance according to the embodiment. Figure 4 and Figure 5 In FIG. 1 , an arrow indicates the traveling direction of the vehicle 10 .

[0085] like Figure 4As shown, assume a state in which the vehicle 10 crosses an example of obstacles around the vehicle 10, that is, in front of other vehicles 201 and 202. The other vehicle 201 stops at a distance from the other vehicle 202 that the vehicle 10 can stop. In addition, a wall 300 is arranged in front of the other vehicles 201 and 202. The space between the other vehicles 201 and 202 and the wall 300 is a passage for the vehicle 10. In this state, the movement of the vehicle 10 in the case of parallel parking between the other vehicles 201 and 202a is as follows. That is, the vehicle 10 stops after passing in front of the other vehicles 201 and 202. Next, the vehicle 10 enters between the other vehicles 201 and 202 by backing up. Then, the vehicle 10 stops between the other vehicles 201 and 202. In this case, as Figure 5 As shown, there are situations where a turnaround of the vehicle 10 is required.

[0086] Next, refer to Figure 6 The flow of parking assistance processing will be described. Figure 6 This is a flowchart of the parking assistance process (parking assistance method) executed by the parking assistance device 34 of the present embodiment.

[0087] like Figure 6 As shown, the acquisition unit 71 acquires the captured image of the image capturing unit 14 and the detection information of the distance measuring unit 16, that is, the surrounding information of the vehicle 10 (S1). The acquisition unit 71 repeatedly acquires the surrounding information of the vehicle 10 in a predetermined cycle.

[0088] Next, the detection unit 72 detects objects such as obstacles and parking area lines based on the surrounding information (the image captured by the imaging unit 14 and the detection information of the imaging unit 14) acquired by the acquisition unit 71, and detects the parking area PA ( Figure 5 )(S2). In addition, the detection performed by the detection unit 72 is repeated at a predetermined cycle. Figure 5 In FIG. 1 , the parking area PA is shown by four sides of dashed lines.

[0089] return Figure 6 When the operation receiving unit 73 receives an instruction of parking assistance from the passenger via the operation input unit 68 (S3), the target position calculating unit 74a calculates the parking target position PP included in the parking area PA based on the detection result of the detection unit 72 (S4). Figure 5 In FIG. 1 , the parking target position PP is indicated by an × mark.

[0090] Next, the route calculation unit 75b calculates a movement route for moving the vehicle 10 from the current position of the vehicle 10 to the parking target position included in the parking area (S5).

[0091] Next, the movement control unit 76c controls all or part of the systems 22, 24, 26, and 28 to move the vehicle 10 to the parking target position PP along the movement path. That is, the movement control unit 76c performs automatic driving.

[0092] In the process of S6, the vehicle 10 may need to turn back in a state where a part of the vehicle 10 enters the parking area PA on the moving path. The process related to the turning back will be described in detail.

[0093] Figure 7 This is a flowchart of a process related to turn-back in the parking assistance process executed by the parking assistance device 34 according to the embodiment. Figure 7 The processing starts when the vehicle 10 moves backward toward the parking area PA. In addition, at this time, as described above, the acquisition of surrounding information by the acquisition unit 71 and the detection of objects (reference objects) such as obstacles and parking area demarcation lines by the detection unit 72 are repeatedly performed at a predetermined cycle.

[0094] like Figure 7 As shown, the parking assist unit 74 determines whether the vehicle 10 can reach the parking target position PP without turning back (S11). Here, in the parking assist unit 74, the target position calculation unit 74a and the path calculation unit 75b respectively correct the parking target position PP, the parking area PA and the moving path as needed based on the surrounding information obtained by the acquisition unit 71. That is, the parking target position PP, the parking area PA and the moving path are updated according to the surrounding information. Therefore, the determination of whether the vehicle 10 can reach the parking target position PP without turning back performed by the parking assist unit 74 here can be performed when calculating the latest moving path. In other words, the turning position RP ( Figure 5 ), it is necessary to turn back, and if the return position RP is not set in the latest moving path, it is not necessary to turn back. Figure 5 In FIG. 1 , the turning position RP of the vehicle 10 is indicated by a black dot.

[0095] return Figure 7 If the parking assisting unit 74 determines that the vehicle 10 can reach the parking target position PP without turning back (S11: Yes), the processing ends. On the other hand, if the parking assisting unit 74 determines that the vehicle 10 cannot reach the parking target position PP without turning back (S11: No), the processing proceeds to S12.

[0096] In S12, the parking assist unit 74 determines whether the protrusion amount of the vehicle 10 toward the front of the parking area PA is less than a threshold value (S12). Figure 5As shown in FIG. 1 , the protrusion amount of the vehicle 10 toward the front of the parking area PA is the protrusion amount T1 toward the outside of the parking area PA relative to the end PAa at the entrance side of the parking area PA. That is, the protrusion amount T1 is the protrusion amount T1 of the vehicle 10 from the parking area PA in the first direction D1 from the end PAb at the back side of the parking area PA toward the end PAa at the entrance side. The protrusion amount T1 is also called the protrusion amount.

[0097] Here, the end PAa on the entrance side of the parking area RA is, in other words, the end on the side where the vehicle 10 enters when the vehicles are parked in parallel in the parking area RA. That is, the end PAa is one end in the long-side direction of the parking area PA. The vehicle 10 is parked in the parking area PA in such a manner that the front-rear direction of the vehicle 10 is along the long-side direction of the parking area PA. For example, the position of the end PAa in the first direction D1 is the same as that of at least one of the front ends 201a and 201b of the other vehicles 201 and 202 in the short-side direction (width direction) of the parking area RA. Therefore, the protrusion amount T1 can also be said to be the protrusion amount in the first direction D1 relative to the reference object (vehicles 201 and 202) used to calculate the parking area RA.

[0098] The threshold value of the protrusion amount T1 is set to a value that allows the driver of the following vehicle 203 of the vehicle 10 to easily recognize that the parking of the vehicle 10 is in progress. For example, the threshold value is set to be equal to the length between the front end of the vehicle 10 and the front wheel in the front-rear direction of the vehicle, which is 1.5 m as an example. The threshold value may be a value other than the above. The protrusion amount T1 is equal to the distance between the parking target position PP and the reference point 10a of the vehicle 10 in the first direction D1. The parking assist unit 74 calculates the position of the vehicle 10 relative to the parking area PA (parking target position PP) by a known method.

[0099] When the parking assisting unit 74 determines that the protrusion amount T1 of the vehicle 10 is not less than the threshold value ( S12 : NO), the process proceeds to S13 .

[0100] In S13, the parking assisting unit 74 determines whether the reliability of the parking target position PP is greater than or equal to a threshold value and whether there is a moving path that allows the vehicle 10 to turn around and reach the parking target position PP. The condition that the reliability of the parking target position PP is greater than or equal to a threshold value and that there is a moving path that allows the vehicle 10 to turn around and reach the parking target position PP is one of the turning-around conditions of the vehicle 10. When this condition is satisfied (S13: Yes), the parking assisting unit 74 turns the vehicle 10 around (S14) even if the vehicle 10 has not reached the turning-around position RP. The reason why the vehicle turns around earlier than set in this way is that since the reliability of the parking target position PP is greater than or equal to the threshold value, it is not necessary to continue to obtain information on other vehicles 201 and 202 that are obstacles. As a result, the time required for parking is shortened.

[0101] Here, the reliability of the parking target position PP will be described. Figure 8 and Fig. 9 It is an explanatory diagram for explaining the reliability of the parking target position PP according to the embodiment.

[0102] The reliability of the parking target position PP is determined based on, for example, the amount of data used to calculate the parking target position PP (data amount). Figure 8 As shown, when the parking target position PP is calculated based on the other vehicle 201, the data used for calculating the parking target position PP are the measurement points M1 and M2 of the side (side) of the other vehicles 201 and 202 measured by the distance measuring unit 16. In this case, the reliability is based on the lengths L1 and L2 of the columns of the plurality of measurement points M1 and M2. In detail, the lengths L1 and L2 of the columns of the measurement points M1 and M2 are the lengths of the straight lines obtained by approximating the plurality of measurement points M1 and M2. The reliability when at least one of the lengths L1 and L2 of the columns of the measurement points M1 and M2 is a predetermined length is used as a threshold value of the reliability. Therefore, when at least one of the lengths L1 and L2 of the columns of the measurement points M1 and M2 is longer than the predetermined length, the reliability is greater than the threshold value. On the other hand, when both the lengths L1 and L2 of the columns of the measurement points M1 and M2 are shorter than the predetermined length, the reliability is less than the threshold value.

[0103] In addition, for example, Fig. 9 As shown in FIG. 1 , when the parking target position PP is calculated based on the parking area dividing lines 301 and 302 (reference objects), the data used for calculating the parking target position PP is the data of the parking area dividing lines 301 and 302 in the images captured by the imaging units 14c and 14d. Fig. 9 In FIG. 1 , the imaging ranges Dc, Db, and Dd of the imaging units 14c, 14b, and 14d are indicated by dashed lines. Fig. 9 , the vehicle 10 is shown in a state where the reference point 10a is located in front of the parking target position PP. The reliability of the parking target position PP in this case is based on the lengths of the parking area dividing lines 301 and 302 that can be detected from the captured images captured by the capturing units 14c and 14d. The reliability in the case where at least one of the lengths of the parking area dividing lines 301 and 302 is a prescribed length is used as a threshold value for the reliability. Thus, the reliability in the case where at least one of the lengths of the parking area dividing lines 301 and 302 that can be detected from the captured images captured by the capturing units 14c and 14d is longer than the prescribed length is greater than the threshold value. On the other hand, the reliability in the case where both the lengths of the parking area dividing lines 301 and 302 that can be detected from the captured images captured by the capturing units 14c and 14d are shorter than the prescribed length is less than the threshold value. Fig. 9In the case of the example, for example, when the distance L3 between the parking target position PP and the reference point 10a of the vehicle 10 becomes a predetermined distance, the reliability becomes the reference value. The predetermined distance is, for example, 2 m. In addition, the predetermined distance may be a distance other than the above. In addition, the setting of the reliability is not limited to the above.

[0104] return Figure 7 When the parking assisting unit 74 determines that the reliability of the parking target position PP is not equal to or greater than the threshold value and that there is no movement path for the vehicle 10 to reach the parking target position PP by turning back (S13: No), it determines whether the vehicle 15 has reached the turning back position RP (S15). The condition that the vehicle 10 has reached the turning back position RP is one of the turning back conditions for the vehicle 10. When this condition is satisfied (S15: Yes), even if the reliability of the parking target position PP is equal to or greater than the threshold value and there is no movement path for the vehicle 10 to reach the parking target position PP by turning back, the parking assisting unit 74 performs the turning back of the vehicle 10 (S14).

[0105] As can be seen from the above, if any one of the conditions is satisfied, namely, the reliability of the parking target position PP is equal to or greater than the threshold value, there is a moving path for the vehicle 10 to reach the parking target position PP by turning back, and the vehicle 15 has reached the turning back position, the parking assisting unit 74 turns back the vehicle 10. The turning back conditions of the vehicle are not limited to the above.

[0106] When determining that the vehicle 15 has not reached the turnaround position ( S15 : NO), the parking assisting unit 74 continues the reverse movement of the vehicle 10 ( S16 ), returns to S11 , and repeats the processing after S11 .

[0107] In addition, when the parking assisting unit 74 determines in S12 that the protruding amount T1 of the vehicle 10 is less than the threshold value (S12: Yes), the vehicle 10 is turned back (S14) regardless of whether the condition for turning back of the vehicle 10 is satisfied. Specifically, when the parking assisting unit 74 determines that the protruding amount T1 of the vehicle 10 is less than the threshold value (S12: Yes), the vehicle 10 is turned back even if the conditions that the reliability of the parking target position PP is greater than the threshold value and there is a moving path that allows the vehicle 10 to turn back to the parking target position PP and the vehicle 15 has reached the turning back position are not satisfied.

[0108] As described above, the parking assist device 34 of the embodiment includes, for example, an acquisition unit 71 that acquires information about the periphery of the vehicle 10, that is, peripheral information; a detection unit 72 that detects the parking area PA of the vehicle 10 based on the peripheral information acquired by the acquisition unit 71; and a parking assist unit 74 that calculates the parking target position PP of the vehicle 10 included in the parking area PA of the vehicle 10 and the movement path for moving the vehicle 10 to the parking target position PP, and moves the vehicle 10 to the parking target position PP according to the movement path. When the parking of the vehicle 10 is parallel parking and the vehicle 10 needs to turn around in a state where a part of the vehicle 10 enters the parking area PA, the parking assist unit 74 turns around the vehicle 10 regardless of whether the conditions for turning around the vehicle 10 are satisfied when the protrusion amount T1 of the end PAa on the entrance side of the vehicle 10 that has partially entered the parking area PA to the outside of the parking area PA is less than a threshold value. That is, the vehicle 10 re-enters the parking area PA at an early stage.

[0109] According to such a parking assist device 34, for example, when the protrusion amount T1 of the end PAa at the entrance side of the parking area PA to the outside of the parking area PA is less than a threshold value, the parking assist unit 74 turns the vehicle 10 regardless of whether the conditions for turning the vehicle 10 are satisfied, and thus it is possible to notify the surroundings of the vehicle 10 (for example, the following vehicle 203 of the vehicle 10) that the parking operation is continuing. As a result, the safety of parallel parking can be improved. As a result, it is possible to suppress the collision between the parallel parked vehicle 10 and the following vehicle 203.

[0110] In the parking assist device 34 of the present embodiment, for example, the condition for turning back of the vehicle 10 includes that the reliability of the parking target position PP reaches a predetermined reference.

[0111] According to such a parking assisting device 34 , for example, even when the reliability of the parking target position PP does not reach a predetermined standard, the vehicle 10 can be turned back.

[0112] In the parking assist device 34 of the present embodiment, for example, the condition for the vehicle 10 to turn around includes that the vehicle 10 reaches the turning position RP set in the movement path.

[0113] According to such a parking assisting device 34 , for example, even when the vehicle 10 has not reached the set turning position RP, the vehicle 10 can be turned back.

[0114] In addition, the program for executing the above-mentioned processing executed by the parking assist device 34 may be provided as a computer program product by storing it in a computer-readable storage medium (non-transitory storage medium) such as a CD-ROM, CD-R, memory card, DVD (Digital Versatile Disk), or floppy disk (FD) in an installable or executable form. In addition, the program for executing the above-mentioned processing executed by the parking assist device 34 may be stored in a computer connected to a network such as the Internet and provided by downloading it via the network. In addition, the program for executing the above-mentioned processing executed by the parking assist device 34 may be provided or distributed via a network such as the Internet.

[0115] In addition, Figure 7 In the flowchart of FIG. 1 , when the parking assisting unit 74 determines that the protrusion amount T1 of the vehicle 10 is less than the threshold value (S12: Yes), the vehicle 10 may be turned back (S14) regardless of whether the turning back condition of the vehicle 10 is satisfied. This may be performed only when the detection unit 72 detects the following vehicle 203. That is, when the detection unit 72 does not detect the following vehicle 203, the processing of S12 may not be performed. Here, the following vehicle 203 is, for example, a vehicle located in the passage in front of the parking area PA.

[0116] The embodiments of the present invention have been described above, but the above embodiments are indicative as examples and are not intended to limit the scope of the invention. The new embodiment can be implemented in various other ways, and various omissions, substitutions, and changes can be made without departing from the scope of the main purpose of the invention. The embodiment and its variations are included in the scope and main purpose of the invention, and are included in the invention described in the claims and its equivalent scope.

Claims

1. A parking assistance device (34), comprising: An acquisition unit (71) that acquires information about the periphery of the vehicle (10), namely, periphery information; a detection unit (72) for detecting a parking area of ​​the vehicle (10) based on the surrounding information acquired by the acquisition unit (71); as well as A parking assisting unit (74) calculates a parking target position of the vehicle (10) included in a parking area of ​​the vehicle (10) and a moving path for moving the vehicle (10) to the parking target position, and moves the vehicle (10) to the parking target position according to the moving path, wherein: When the parking of the vehicle (10) is parallel parking and the vehicle (10) needs to turn around when a portion of the vehicle (10) has entered the parking area, the parking assisting unit (74) causes the vehicle (10) to turn around when the amount of protrusion outside the parking area of ​​the end portion of the vehicle (10) that has partially entered the parking area relative to the entrance side of the parking area is less than a threshold value, regardless of whether the conditions for the vehicle (10) to turn around are met.

2. The parking assistance device (34) according to claim 1, wherein: The conditions for the vehicle (10) to turn back include the reliability of the parking target position reaching a predetermined standard.

3. The parking assistance device (34) according to claim 1 or 2, wherein: A condition for the vehicle (10) to turn back includes the vehicle reaching a turning back position set on the movement path.

4. A parking assistance method, wherein: include: The acquisition unit (71) acquires information about the surroundings of the vehicle (10), namely, surrounding information; The detection unit (72) detects the parking area of ​​the vehicle (10) based on the surrounding information acquired by the acquisition unit (71); A parking assisting unit (74) calculates a parking target position of the vehicle (10) included in a parking area of ​​the vehicle (10) and a moving path for moving the vehicle (10) to the parking target position, and moves the vehicle (10) to the parking target position according to the moving path; and When the parking of the vehicle (10) is parallel parking and the vehicle (10) needs to turn around when a portion of the vehicle (10) has entered the parking area, the parking assisting unit (74) causes the vehicle (10) to turn around when the amount of protrusion outside the parking area of ​​the end portion of the vehicle (10) that has partially entered the parking area relative to the entrance side of the parking area is less than a threshold value, regardless of whether the conditions for the vehicle (10) to turn around are met.

5. A non-transitory storage medium storing instructions that can be executed by one or more processors and cause the one or more processors to perform the following functions, namely: The acquisition unit (71) acquires information about the surroundings of the vehicle (10), namely, surrounding information; A detection unit (72) detects a parking area of ​​the vehicle based on the surrounding information acquired by the acquisition unit (71); A parking assisting unit (74) calculates a parking target position of the vehicle (10) included in a parking area of ​​the vehicle (10) and a moving path for moving the vehicle (10) to the parking target position, and moves the vehicle (10) to the parking target position according to the moving path; and When the parking of the vehicle (10) is parallel parking and the vehicle (10) needs to turn around when a portion of the vehicle (10) has entered the parking area, the parking assisting unit (74) causes the vehicle (10) to turn around when the amount of protrusion outside the parking area of ​​the end portion of the vehicle (10) that has partially entered the parking area relative to the entrance side of the parking area is less than a threshold value, regardless of whether the conditions for the vehicle (10) to turn around are met.

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