Parking assistance device and control method for parking assistance device

Abstract

The present application provides a parking support device capable of more appropriately setting a parking path. The parking support device (100) has: a position detection unit (110) that detects a current position of a vehicle (1); a sensor that is provided to the vehicle (1) and detects a periphery of the vehicle; a parking area detection unit that detects a parking area in which the vehicle (1) can be parked, based on information of the sensor; and a parking path calculation unit (118) that calculates a path for the vehicle (1) to move from the current position to the parking area, based on the parking area detected by the parking area detection unit and the current position of the vehicle.

Description

Technical Field

[0001] This invention relates to a parking support device and a control method for the parking support device. Background Technology

[0002] Patent document 1 discloses a technology related to parking support.

[0003] In the subject matter section of the abstract of Patent Document 1, it states "the ability to provide parking support without affecting the safety of other vehicle routes".

[0004] In the solution section of the abstract of Patent Document 1, it is stated that "the parking support device of this application includes: an external detection sensor input processing unit that generates surrounding information based on sensor input from an external detection sensor outside the vehicle; a parking position setting unit that sets a parking position; an imaginary obstacle generation unit that generates imaginary obstacle information based on the parking position set by the parking position setting unit; and a parking path calculation unit that generates a parking path for the vehicle from its current position to the parking position based on the surrounding information and the imaginary obstacle information."

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2013-241088 Summary of the Invention

[0008] In Patent Document 1, there is still room for improvement in the setting of the hypothetical obstacle in order to obtain a more appropriate parking path.

[0009] The purpose of this invention is to provide a parking support device that can obtain a more appropriate parking path and a control method for the parking support device.

[0010] One aspect of the present invention is a parking support device, characterized by comprising: a position detection unit for detecting the current position of a vehicle; a sensor disposed on the vehicle and detecting the periphery of the vehicle; a parking area detection unit for detecting a parking area where the vehicle can park based on information from the sensor; and a parking path calculation unit for calculating a path for the vehicle to move from its current position to the parking area based on the parking area detected by the parking area detection unit and the current position of the vehicle.

[0011] Invention Effects

[0012] According to the present invention, a more appropriate parking path can be obtained. Attached Figure Description

[0013] Figure 1This is a diagram showing the configuration of the vehicle on which the parking support device of the first embodiment of the present invention is mounted.

[0014] Figure 2 This is an example diagram showing the configuration of a side sonar and camera.

[0015] Figure 3 This is a diagram showing parking spaces.

[0016] Figure 4 It is a graph representing the movement of the position of a hypothetical obstacle based on the detection range of the side sonar.

[0017] Figure 5 This is a diagram illustrating an example of parking space detection based on obstacle detection results obtained from side sonar.

[0018] Figure 6 This is a diagram illustrating the distance.

[0019] Figure 7 This is a diagram illustrating the inspection time for parking spaces.

[0020] Figure 8 This is a flowchart of parking support procedures.

[0021] Figure 9 It is a diagram showing the difference in parking paths caused by the movement of imaginary obstacles.

[0022] Figure 10 This is a diagram showing a modified example of a parking space according to the first embodiment of the present invention.

[0023] Figure 11 This is a diagram showing the configuration of the vehicle on which the parking support device of the second embodiment of the present invention is mounted.

[0024] Figure 12 This is an example diagram showing the setup of a sonar and camera.

[0025] Figure 13 It is an explanatory diagram of the parking area, parking frame, distant adjacent area, and set position.

[0026] Figure 14 This is an explanatory diagram illustrating the prerequisite operations for this implementation method.

[0027] Figure 15 This is a flowchart of parking support procedures.

[0028] Figure 16 This is a diagram illustrating different parking paths depending on the presence or absence of obstacles in adjacent distant areas.

[0029] Explanation of reference numerals in the attached figures

[0030] 1,200 vehicles

[0031] 10, 210 Peripheral Detection Sensor Department

[0032] 10A Side Sonar

[0033] 10B and 210B cameras

[0034] 100, 300 parking support device

[0035] 110, 310 Position Detection Department

[0036] 111, 311 Surrounding Area Information Department

[0037] Obstacle Detection Department 112, 312

[0038] 114 Parking Space Inspection Department

[0039] 115, 315 Parking Frame Setting Section

[0040] 116 Imaginary Obstacle Setting Department

[0041] 117 Imaginary obstacle moving part

[0042] Parking Route Calculation Department (118, 316)

[0043] Automatic Driving Control Units of 119 and 319

[0044] 210A Sonar

[0045] 314 Parking Area Inspection Department

[0046] 317 Relative Position Judgment Unit

[0047] 318 Forward Path Setting Department

[0048] 350 Forward Path

[0049] C. Imaginary obstacle

[0050] D, 200D Parking Frame

[0051] Da's farthest edge

[0052] F is the direction through.

[0053] L Distance

[0054] M movement amount

[0055] R Detection range

[0056] RK spindle

[0057] RP sonar detection location

[0058] T-shaped parking space

[0059] TA storage location line

[0060] 200K distant neighboring area

[0061] 200L Minimum turning radius

[0062] 200O Center

[0063] 200Q Parking Area

[0064] 200T Setting Position Detailed Implementation

[0065] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0066] (First Embodiment)

[0067] Figure 1 This diagram illustrates the configuration of the vehicle 1 on which the parking support device 100 of this embodiment is mounted.

[0068] Vehicle 1 has a peripheral detection sensor unit 10, a vehicle sensor unit 20, a vehicle control unit 30, and a parking support unit 100. These parts are connected to each other via a vehicle network 5, such as a CAN (Controller Area Network) bus, for data communication.

[0069] The perimeter detection sensor unit 10 has various sensors for detecting information about the perimeter of the vehicle 1, and outputs the detection results (output) to the parking support device 100. Hereinafter, the perimeter information will be referred to as "perimeter information".

[0070] Surrounding information includes information about objects present around vehicle 1. These objects include, for example, obstacles and parking space lines that divide the parking space for vehicle 1. Obstacles are various objects that may impede the movement of vehicle 1. Typical examples of obstacles include pillars and walls, structures such as fire hydrants, other vehicles parked or in motion, and pedestrians.

[0071] The peripheral detection sensor unit 10 of this embodiment includes a side sonar 10A and a camera 10B.

[0072] The side sonar 10A is a ranging sensor that detects surrounding obstacles using sound waves and determines the distance between the obstacle and the vehicle 1.

[0073] like Figure 2As shown, the side sonars 10A are respectively disposed on the left and right sides of the vehicle 1. The side sonars 10A make the detection range R, which is fan-shaped, more narrow at the center angle than that of a conventional sonar, thus making the detection range R approximately bundled. Therefore, the side sonars 10A have lateral high directivity towards the vehicle 1, and can detect obstacles with high accuracy from the vehicle 1 to a relatively distant location (e.g., 5 meters). Furthermore, as the vehicle 1 moves (in... Figure 2 In the example of forward travel, obstacles are detected with high precision in the area W traversed by the detection range R of the side sonar 10A of vehicle 1.

[0074] Camera 10B is used to capture images of parking spaces T ( Figure 3 (The filming agency)

[0075] like Figure 2 As shown, the vehicle 1 in this embodiment is equipped with cameras 10B at the front, left, right, and rear. These cameras 10B capture images from all directions centered on the vehicle 1.

[0076] Furthermore, camera 10B can also capture an all-around view using a single camera. Additionally, the shooting range achieved by camera 10B and the number of cameras 10B can be appropriately changed.

[0077] The vehicle sensor unit 20 includes various sensors for detecting the driving status of the vehicle 1 and for detecting various information required for autonomous dead reckoning. These sensors are mounted on the vehicle 1, and for example, they are gyroscope sensors, acceleration sensors, vehicle speed sensors, and rudder angle sensors for detecting the steering angle of the vehicle 1.

[0078] The vehicle control device 30 is a device that enables the vehicle 1 to move autonomously (automatically) based on a parking path calculated by the parking support device 100, as described later, by controlling the steering device, drive device, and braking control device of the vehicle 1. The vehicle control device 30 has a computer (e.g., ECU (Electronic Control Unit)) that performs the above control.

[0079] Furthermore, the steering device is a device that includes an actuator that steers the steering wheels of the vehicle 1.

[0080] Furthermore, the drive unit includes an actuator that adjusts the driving force of the drive wheels of vehicle 1. When the power source of vehicle 1 is an engine, the actuator of the drive unit is a throttle actuator. When the power source is an electric motor, the actuator of the drive unit is the electric motor of the power source.

[0081] The braking control device has an actuator that controls the braking force applied to the wheels of the vehicle 1 by controlling the braking system provided in the vehicle 1.

[0082] The parking support device 100 is a device that enables the vehicle 1 to automatically move toward the parking space T to support the parking of the vehicle 1.

[0083] The parking support device 100 includes a computer with a processor such as a CPU (Central Processing Unit) and an MPU (Microprocessor Unit), memory devices such as ROM (Read Only Memory) and RAM (Random Access Memory) (also called main memory devices), storage devices such as HDD (Hard Disk Drive) and SSD (Solid State Drive) (also called auxiliary memory devices), an interface circuit for connecting sensors and peripheral devices, and an in-vehicle network communication circuit for communicating with other in-vehicle devices via the in-vehicle network 5. An ECU (Electronic Control Unit) is used as the aforementioned computer.

[0084] In the parking support device 100, the processor executes a computer program stored in a memory device or storage device, thereby achieving... Figure 1 The composition of the various functions shown.

[0085] In other words, the parking support device 100 includes, as a functional component, a position detection unit 110, a surrounding information acquisition unit 111, an obstacle detection unit 112, a map generation unit 113, a parking space detection unit 114, a parking frame setting unit 115, a hypothetical obstacle setting unit 116, a hypothetical obstacle movement unit 117, a parking path calculation unit 118, and an automatic driving control unit 119.

[0086] The position detection unit 110 detects the current position (its own position) of the vehicle 1 using a known or widely known dead reckoning method based on the detection results (output) of the vehicle sensor unit 20.

[0087] The surrounding information acquisition unit 111 acquires surrounding information based on the detection results (output) of the surrounding detection sensor unit 10. The detection range R of the side sonar 10A is as described above. Figure 2 The fan shape is shown. Furthermore, the side sonar 10A is configured to obtain the highest detection result within the detection range R, with reliability within a specified angle (0 < specified angle < central angle of the fan shape) centered on the center of the fan shape (which is consistent with the direction of detection), i.e., the main axis RK.

[0088] The obstacle detection unit 112 detects obstacles around the vehicle 1 based on surrounding information.

[0089] More specifically, the obstacle detection unit 112 detects surrounding obstacles based on the detection results of the side sonar 10A, and detects the position of the obstacles with the vehicle 1 as a reference.

[0090] In addition, the obstacle detection unit 112 uses information obtained from the detection results within the specified angle range that has the highest reliability in the detection range R of the side sonar 10A based on the surrounding information to detect obstacles around the vehicle 1.

[0091] The map generation unit 113 generates map data based on the detection results of the obstacle detection unit 112. The map data is data recording the positions of obstacles in a local spatial coordinate system with the current position of vehicle 1 as the origin at an appropriate time. The distribution of obstacles around vehicle 1 can be determined using the map data.

[0092] The parking space detection unit 114 functions as a parking area detection unit for detecting the area where the vehicle 1 is parked, i.e., the parking area. In this embodiment, the parking space detection unit 114 detects the parking space T in the parking area based on an image taken from one of the surrounding information.

[0093] Figure 3 This is a diagram representing the parking space T of the object being detected.

[0094] like Figure 3 As shown, parking space T is an area for parking vehicles, defined by parking space lines TA drawn on the ground. Parking space lines TA are also called parking frame lines or white lines, etc.

[0095] The parking space detection unit 114 identifies the parking space line TA by image recognition of the image captured by the camera 10B, thereby detecting the parking space T. Furthermore, the parking space detection unit 114 converts the position of the parking space T in the captured image to its position in the local spatial coordinate system of the map data by projecting from the two-dimensional coordinate system of the captured image to the local spatial coordinate system of the map data. This projection conversion can be performed using appropriate techniques that are known or widely accepted.

[0096] The parking frame setting unit 115 is based on the parking space T detected by the parking space detection unit 114, such as Figure 3 As shown, a rectangular parking frame D is set in parking space T. The parking frame D is a frame that defines the area that accommodates vehicle 1 when parking in parking space T.

[0097] In this embodiment, regarding the parking space T, each parking space line TA, as follows: Figure 3As shown, the parking frame setting unit 115 sets the parking frame D in such a way that it is approximately parallel to the side opposite to the storage location line TA of the object.

[0098] The hypothetical obstacle setting unit 116 sets a hypothetical obstacle C on the far side compared to the parking frame D when viewed from the front of the parking frame D. Typically, as shown... Figure 3 As shown, the position near the parking frame D is the position of vehicle 1, which is moving towards the parking frame D in front.

[0099] The hypothetical obstacle C is a virtual obstacle that is different from the obstacle detected by the peripheral detection sensor unit 10.

[0100] In this embodiment, the imaginary obstacle setting unit 116 sets the imaginary obstacle C at a position (early position) where it meets the farthest edge of the parking frame D when viewed from the front of the parking frame D. In this embodiment, the farthest edge is the farthest edge among the longitudinal edges of the vehicle 1 in the parking state that extend in the front-rear direction, and this edge will be referred to as the farthest edge Da below.

[0101] Furthermore, the size and shape of the hypothetical obstacle C can be based on the size of the parking frame D, and the imagined obstacles (walls and other vehicles) existing next to the parking frame D. Figure 3 The size of (etc.) is set accordingly. In this case, such as Figure 3 As shown, the hypothetical obstacle C is defined as having a shape that includes at least a straight section Ca extending along the farthest edge Da of the parking frame D.

[0102] In this embodiment, the imaginary obstacle C is a rectangle representing another vehicle 3 that can park next to the parking space T. The size of the imaginary obstacle C is set based on the size of the other vehicle 3, and it is arranged side by side with the parking frame D in such a way that the straight part Ca is parallel to the farthest side Da of the parking frame D.

[0103] The imaginary obstacle moving unit 117 moves the position of the imaginary obstacle C set by the imaginary obstacle setting unit 116 based on the position of the detection range R of the side sonar 10A when the automatic parking starts.

[0104] Figure 4 This is a diagram showing the movement of the position of the imaginary obstacle C based on the position of the detection range R of the side sonar 10A.

[0105] like Figure 4As shown, when the detection range R of the side sonar 10A is farther than the farthest edge Da from a position near the parking frame D as the vehicle 1 passes through the parking frame D, the imaginary obstacle moving unit 117 moves the imaginary obstacle C in the passing direction F of the vehicle 1 by a movement amount M corresponding to the distance L between the position of the detection range R of the side sonar 10A and the farthest edge Da. The passing direction F is the direction of travel of the vehicle 1 when passing through the parking frame D.

[0106] Hereinafter, the location of the detection range R of the side sonar 10A will be referred to as the "sonar detection position RP". For the sonar detection position RP, the main axis RK of the beam probe wave of the side sonar 10A is used. Figure 2 The location of the ) is usually the same as the configuration location of the side sonar 10A on vehicle 1.

[0107] In addition, in this embodiment, such as Figure 4 As shown, the imaginary obstacle moving part 117 moves the imaginary obstacle C in the passing direction F (that is, moves it parallel) in a manner that maintains the parallelism between the straight part Ca of the imaginary obstacle C and the farthest edge Da of the parking frame D.

[0108] To elaborate further, the parking space E suitable for parking the vehicle 1 is detected based on the obstacle detection results obtained from the side sonar 10A. In this configuration, for example... Figure 5 As shown, even if a parking potential space E is detected between the two point sets G representing obstacles, the parking posture (forward and backward direction) of vehicle 1 within that parking potential space E cannot be determined. Furthermore, if the obstacle on the far side of the parking potential space E is another vehicle 3, as shown... Figure 5 As shown, the orientation of the other vehicle 3 cannot be uniquely determined.

[0109] In contrast, in this embodiment, parking spaces T are detected based on captured images as possible parking spaces E. This allows the parking posture of the vehicle 1 within the parking space T to be determined by the extension direction of the parking space line TA. Furthermore, when other vehicles 3 exist as obstacles next to the parking space T, their postures typically align with the extension direction of the parking space line TA. In other words, by detecting the parking space T, the postures of other vehicles 3 that may be present next to it can also be determined. Additionally, by moving a hypothetical obstacle C parallel to the parking space T, the hypothetical obstacle C can be moved relative to the parking space T in accordance with the postures of the other vehicles 3.

[0110] In addition, in this embodiment, the movement amount M of the hypothetical obstacle C is set to be the same as or less than the departure distance L.

[0111] For the distance L, such as Figure 6 As shown, the following distance is used, taking into account the case where vehicle 1 is tilted relative to parking frame D.

[0112] In other words, such as Figure 6 As shown, the shorter of the two perpendicular lines Q1 and Q2, which are drawn from the front end Da1 and rear end Da2 of the farthest side Da of the parking frame D as base points and perpendicular to the main axis RK of the sonar detection position RP on the farthest side Da, is used as the departure distance L.

[0113] The front end Da1 of the farthest edge Da is the endpoint closest to vehicle 1, and the rear end Da2 is the endpoint furthest from vehicle 1.

[0114] like Figure 6 As shown in the angled parking A, when vehicle 1 is parked with its front side further away from the parking frame D than its rear side, the length of the perpendicular line Q1 extending from the front end Da1 of the farthest side Da is used as the departure distance L.

[0115] In addition, such as Figure 6 As shown in the angled parking B, when vehicle 1 is parked with its front side closer to the parking frame D than its rear side, the length of the perpendicular line Q2 extending from the rear end Da2 of the farthest side Da is used as the departure distance L.

[0116] Therefore, the movement M of the imaginary obstacle C remains at a level that prevents the straight portion Ca of the imaginary obstacle C from entering the undetected range based on the side sonar 10A.

[0117] In addition, as before Figure 4 As shown, when the vehicle 1 is perpendicular to the parking frame D, the lengths of the perpendicular lines Q1 and Q2 are equal, so the length of either perpendicular line can be used as the distance L.

[0118] The parking path calculation unit 118 calculates and determines the parking path based on map data (that is, the distribution of obstacles detected based on surrounding information), imaginary obstacle C, and parking frame D set by the parking frame setting unit 115.

[0119] The parking path in this embodiment is a path by which vehicle 1 moves from its current position to the parking space T by reversing into the parking frame D of the parking space T without colliding with surrounding obstacles or imaginary obstacles C.

[0120] Reversing into a parking space refers to reversing a vehicle 1 into the parking space T.

[0121] The automatic driving control unit 119 generates control information for the vehicle 1 to move forward by automatic driving based on the parking path, and outputs the control information to the vehicle control device 30.

[0122] The vehicle control device 30 performs control based on control information, causing the vehicle 1 to automatically drive toward and enter the parking space T.

[0123] Next, the operation of this embodiment will be explained.

[0124] While the occupant-driven vehicle 1 is moving within the parking lot, the obstacle detection unit 112 in the parking support device 100 continuously detects surrounding obstacles (such as other vehicles 3) based on surrounding information. Figure 3 In addition, the map generation unit 113 records the positions of obstacles detected by the obstacle detection unit 112 into the map data one by one. Furthermore, the parking space detection unit 114 continuously detects parking spaces T existing in front of and to the side of the vehicle 1 based on the image recognition results of the captured images.

[0125] The parking space detection unit 114 detects parking spaces T based on images captured by camera 10B, thereby... Figure 7 As shown, parking space T is rapidly detected during the time before the sonar detection position RP passes through parking space T, or even after the sonar detection position RP passes through parking space T but before the detection results of the side sonar 10A in a space corresponding to the size of parking space T are recorded into the map data.

[0126] Then, the occupant stops the vehicle 1 and operates the HMI (Human Machine Interface) (not shown), thereby instructing the parking support device 100 to automatically park.

[0127] When an automatic parking instruction is input, the parking support device 100 begins automatic parking processing to drive the vehicle 1 into the parking space T via automatic driving.

[0128] Figure 8 This is a flowchart of the automatic parking process.

[0129] First, the parking frame setting unit 115 sets the parking frame D relative to the parking space T (step Sa1).

[0130] Next, the imaginary obstacle setting unit 116 sets the imaginary obstacle C at a position where the straight section Ca and the farthest edge Da of the parking frame D meet (step Sa2).

[0131] Next, the hypothetical obstacle moving unit 117 determines whether the sonar detection position RP has passed through the parking frame D based on the current position of the vehicle 1 and the position of the parking frame D. In other words, it determines whether the sonar detection position RP of the vehicle 1 is far away from the farthest edge Da of the parking frame D (step Sa3).

[0132] If the sonar detection position RP has not passed the parking frame D (step Sa3: No), the sonar detection position RP is located near the farthest side Da, and has not yet been detected by the side sonar 10A regarding the far side compared to the parking frame D. In this case, the position of the hypothetical obstacle C is fixed at the previous position.

[0133] On the other hand, when the sonar detection position RP passes through the parking frame D (step Sa3: Yes), the imaginary obstacle moving unit 117 calculates the aforementioned departure distance L based on the current position of the vehicle 1 and the position of the parking frame D, and moves the imaginary obstacle C in parallel with a movement amount M corresponding to the departure distance L (step Sa4).

[0134] Furthermore, the parking path calculation unit 118 calculates a parking path that will not collide with the obstacles and the imaginary obstacles, based on the current position of the vehicle 1 and the positions of the obstacles, the imaginary obstacles, and the parking space T (parking frame D) in the map data, and calculates it (step Sa5).

[0135] Furthermore, in order to enable the vehicle 1 to automatically drive along the parking path toward the parking space T, the automatic driving control unit 119 generates control information based on the parking path and outputs the control information to the vehicle control device 30 (step Sa6). Thus, under the control of the vehicle control device 30, the vehicle 1 begins to drive automatically and parks toward the parking space T.

[0136] Through the above processing, if the sonar detection position RP does not pass through the parking frame D (step Sa3: No), such as Figure 9 As shown in the “Preliminary Position”, the hypothetical obstacle C is located adjacent to the parking frame D, and the parking path is calculated in a way that will not collide with the hypothetical obstacle C.

[0137] On the other hand, if the sonar detection position RP passes through the parking frame D (step Sa3: Yes), such as Figure 9 As shown in the "After Movement" diagram, the imaginary obstacle C moves parallel to the distance L. This creates an area between the parking frame D and the imaginary obstacle C that allows the vehicle 1 to pass through. Furthermore, the parking path is calculated based on the area created between the parking frame D and the imaginary obstacle C, and the detection results of obstacles within that area obtained by the side sonar 10A.

[0138] The result shows that a parking path requiring fewer vehicle adjustments can be calculated compared to the case where the imaginary obstacle C is not moved. Furthermore, "vehicle adjustment" refers to the repeated driving of vehicle 1 in both forward and reverse maneuvers to adjust its approach angle to parking space T; it is sometimes also called a switchback.

[0139] According to this embodiment, the following effects are achieved.

[0140] The parking support device 100 of this embodiment includes: a parking space detection unit 114, which detects the parking space line TA based on captured images of the surrounding area of ​​the vehicle 1, thereby detecting the parking space T; a hypothetical obstacle setting unit 116, which sets a hypothetical obstacle C at a position adjacent to the parking frame D set in the parking space T; a hypothetical obstacle moving unit 117, which moves the hypothetical obstacle C parallel to the passing direction F of the vehicle 1 with a movement amount M corresponding to the departure distance L between the parking space T and the vehicle 1 (more precisely, the sonar detection position RP) when the vehicle 1 passes through the parking space T; and a parking path calculation unit 118, which generates a parking path for the vehicle 1 to move from its current position and park in the parking space T based on the current position of the vehicle 1 and the respective positions of the obstacle, the hypothetical obstacle C, and the parking frame D in the parking space T.

[0141] According to this configuration, when the sonar detection position RP is located on the far side of the parking frame D as viewed from the front of the parking space T, since the imaginary obstacle C moves to a position corresponding to the sonar detection position RP, an area that can be used for a parking path is provided between the parking frame D and the imaginary obstacle C. Therefore, the area that can be used for a parking path is increased, and a more appropriate parking path can be obtained.

[0142] Based on this, since the configuration is such that the possible parking space E, i.e. parking space T, for the vehicle 1 can be parked is not based on the detection results of the side sonar 10A, but on the images captured by the camera 10B, the parking space T can be detected faster than the configuration of detecting the possible parking space E based on the detection results of the side sonar 10A.

[0143] Furthermore, since it is configured to detect parking space T, the orientation (front-to-back direction) of other vehicles 3, which may be obstacles next to the parking space T, can also be inferred based on the orientation of the parking space T.

[0144] Therefore, by simply moving the imaginary obstacle C in parallel, without needing to determine the posture of other vehicles 3 next to the parking space T based on the detection results of the side sonar 10A, and without waiting for determination based on the detection results, the imaginary obstacle C can be quickly moved to a position that matches the posture of the other vehicles 3.

[0145] Therefore, compared with the detection results of the side sonar 10A to determine the possible parking space E and the composition of the posture and shape of the obstacles existing next to the parking space T, these contents can be determined in a faster time. In addition, by determining these contents in advance, the vehicle 1 can be parked closer to the parking space T, and a shorter parking path can also be calculated.

[0146] In the parking support device 100 of this embodiment, the hypothetical obstacle C is set to a size based on other vehicles that may be parked next to the parking space T, and is set side by side with the parking space T.

[0147] Therefore, it is possible to properly calculate the parking path in a parking lot where multiple other vehicles are parked side by side.

[0148] In the parking support device 100 of this embodiment, the obstacle detection unit 112 uses the information detected from the surrounding information obtained from the side sonar 10A provided on the vehicle 1, based on the detection results within a range of a predetermined angle centered on the main axis RK of the fan-shaped detection range R (the predetermined angle is less than the central angle of the fan-shaped detection range R).

[0149] Therefore, obstacles can be detected with high reliability.

[0150] Furthermore, the above embodiments are merely illustrative examples of one aspect of the present invention, and can be arbitrarily modified and applied without departing from the spirit of the present invention.

[0151] In the above embodiment, the parking frame setting unit 115 sets a parking frame D in the parking space T. However, the parking frame setting unit 115 may also set the rim of the parking space T as the parking frame D.

[0152] In the above embodiment, an example is given of parking space T where vehicle 1 is parked alongside other vehicles 3 and other parking spaces T. However, as... Figure 10 As shown, the present invention can also be applied to the case where vehicle 1 is parked in a parking space T arranged in a column with other vehicles 3 and other parking spaces T (the so-called column parking case).

[0153] Furthermore, in this case, such as Figure 10 As shown, the initial position of the hypothetical obstacle C becomes the position adjacent to the parking frame D along the longitudinal direction. In addition, the farthest side Da of the parking frame D is not the long side extending in the front-rear direction of the vehicle 1, but the farthest side among the short sides extending in the width direction of the vehicle 1 when viewed from the front of the parking space T.

[0154] In the first embodiment described above, Figure 1The functional block diagram shown is a schematic representation of the components of the vehicle 1 and the parking support device 100 categorized according to their main processing content for ease of understanding of the invention. The components can be further categorized based on their processing content. Alternatively, they can be categorized in a way that allows a single component to perform more processing tasks.

[0155] Furthermore, the processing of each component of the parking support device 100 can be performed by one piece of hardware or by multiple pieces of hardware. Additionally, the processing of each component can be implemented by one program or by multiple programs.

[0156] (Second Implementation)

[0157] The second embodiment of the present invention will be described.

[0158] Japanese Patent Application Publication No. 2019-182154 disclosed technology related to automatic parking.

[0159] In the "Topics" section of Japanese Patent Application Publication No. 2019-182154, it is stated that "for automatic parking, although the path from the starting position to the target parking position is calculated before parking begins, sometimes obstacles in the distance or those that become blind spots cannot be detected by external identification devices. In such cases, it will hinder smooth parking when automatic parking is actually performed."

[0160] In the solution section of Japanese Patent Application Publication No. 2019-182154, it is described that "in step S1101, the vehicle is virtually moved from the parking start position 1201 towards the shunting position, and the shunting position 1206 is calculated on the parking path 1205. In step S1103, a preliminary path to the target parking position 1207 is calculated after the shunting position 1206 is adjusted. In the following step S1104, it is determined whether a preliminary path can be generated. If the preliminary path meets the specified conditions, the path calculated by the candidate path calculation unit 501 is adopted as the path for automatic parking."

[0161] The premise of the technology disclosed in Japanese Patent Application Publication No. 2019-182154 is: "to generate a candidate path from the current position of the vehicle to the target parking position based on the area where the vehicle can travel, identified based on external information".

[0162] However, when the accuracy of identifying the "area where the vehicle can drive" is low, the area where the vehicle can drive is usually narrower than actually set in order to avoid collisions with obstacles. Furthermore, based on the necessity of moving the vehicle to the parking position within a narrower area, there is a tendency to adopt complex paths involving repetitive driving, i.e., vehicle adjustments, that include forward and reverse maneuvers, as the path for automatic parking.

[0163] This embodiment describes a parking support device that can appropriately set the parking path compared to the technology disclosed in Japanese Patent Application Publication No. 2019-182154, and a control method for the parking support device.

[0164] Figure 11 This diagram illustrates the configuration of the vehicle 200 on which the parking support device 300 of this embodiment is mounted.

[0165] The vehicle 200 includes a peripheral detection sensor unit 210, a vehicle sensor unit 220, a vehicle control unit 230, and a parking support unit 300. These units are connected to each other via a vehicle network 205, such as a CAN (Controller Area Network) bus, for data communication.

[0166] The perimeter detection sensor unit 210 has various sensors for detecting information about the perimeter of the vehicle 200, and outputs the detection results (output) to the parking support device 300. Hereinafter, the perimeter information will be referred to as "perimeter information".

[0167] Surrounding information includes information about objects existing around vehicle 200. These objects include, for example, obstacles and parking space lines that divide the parking space for vehicle 200. Obstacles are various objects that may impede the movement of vehicle 200. Typical examples of obstacles include pillars and walls, structures such as fire hydrants, other vehicles parked or in motion, and pedestrians.

[0168] The peripheral detection sensor unit 210 of this embodiment includes a sonar 210A and a camera 210B.

[0169] The sonar 210A is a ranging sensor that detects surrounding obstacles using sound waves and determines the distance between the obstacle and the vehicle 200.

[0170] In this embodiment, such as Figure 12 As shown, sonar 210A is respectively disposed on the left and right sides of vehicle 200, also referred to as side sonar. The aforementioned sonar 210A improves the directivity towards the sides of vehicle 200 by forming the detection range 200R into a bundle. Therefore, as vehicle 200 moves ( Figure 12 In the example of moving forward), obstacles are detected with high precision in the area 200W traversed by the detection range 200R of the sonar 210A of the vehicle 200.

[0171] Camera 210B is the camera that captures images of the parking area 200Q.

[0172] like Figure 12As shown, the vehicle 200 of this embodiment is equipped with cameras 210B at the front, left, right, and rear. These cameras 210B capture images from all directions centered on the vehicle 200.

[0173] Furthermore, camera 210B can also capture an all-around view using a single camera. Additionally, the shooting range achieved by camera 210B and the number of cameras 210B can be appropriately changed.

[0174] The vehicle sensor unit 220 includes various sensors mounted on the vehicle 200 for detecting the driving status of the vehicle 200 and for detecting various information required for autonomous dead reckoning. These sensors include, for example, gyroscope sensors, acceleration sensors, vehicle speed sensors, and rudder angle sensors for detecting the steering angle of the vehicle 200.

[0175] The vehicle control unit 230 is a device that enables the vehicle 200 to move autonomously (automatically) based on a parking path calculated by the parking support device 300, as described later, by controlling the steering device, drive device, and braking control device of the vehicle 200. The vehicle control unit 230 has a computer (e.g., ECU (Electronic Control Unit)) that performs the above-mentioned control.

[0176] Furthermore, the steering system is a device that includes an actuator that steers the steering wheels of the vehicle 200.

[0177] Furthermore, the drive unit includes an actuator that adjusts the driving force of the drive wheels of the vehicle 200. When the power source of the vehicle 200 is an engine, the actuator of the drive unit is a throttle actuator. When the power source is an electric motor, the actuator of the drive unit is the electric motor of the power source.

[0178] The braking control device has an actuator that controls the braking force applied to the wheels of the vehicle 200 by controlling the braking system provided on the vehicle 200.

[0179] The parking support device 300 is a device that enables the vehicle 200 to automatically drive towards the parking area 200Q to support the parking of the vehicle 200.

[0180] The parking support device 300 includes a computer with a processor such as a CPU (Central Processing Unit) and an MPU (Microprocessor Unit), memory devices such as ROM (Read Only Memory) and RAM (Random Access Memory) (also called main memory devices), storage devices such as HDD (Hard Disk Drive) and SSD (Solid State Drive) (also called auxiliary memory devices), an interface circuit for connecting sensors and peripheral devices, and an in-vehicle network communication circuit for communicating with other in-vehicle devices via the in-vehicle network 205. An ECU (Electronic Control Unit) is used as the aforementioned computer.

[0181] In the parking support device 300, the processor executes a computer program stored in a memory device or storage device, thereby achieving... Figure 11 The composition of the various functions shown.

[0182] In other words, the parking support device 300 includes, as a functional component, a position detection unit 310, a surrounding information acquisition unit 311, an obstacle detection unit 312, a map generation unit 313, a parking area detection unit 314, a parking frame setting unit 315, a parking path calculation unit 316, a relative position determination unit 317, a forward path setting unit 318, and an automatic driving control unit 319.

[0183] The position detection unit 310 uses a known or widely known dead reckoning method to detect the current position (its own position) of the vehicle 200 based on the detection results (output) of the vehicle sensor unit 220.

[0184] The surrounding information acquisition unit 311 acquires surrounding information based on the detection results (output) of the surrounding detection sensor unit 210.

[0185] The obstacle detection unit 312 detects obstacles around the vehicle 200 based on surrounding information.

[0186] More specifically, the obstacle detection unit 312 detects surrounding obstacles based on the detection results of the sonar 210A, and detects the position of the obstacles with the vehicle 200 as a reference.

[0187] The map generation unit 313 generates map data based on the detection results of the obstacle detection unit 312. The map data is data that records the positions of obstacles in a local spatial coordinate system with the current position of the vehicle 200 as the origin at an appropriate time.

[0188] The parking area detection unit 314 detects the parking area 200Q, which is the area where the vehicle 200 is parked, based on surrounding information. Known or widely known techniques can be used for the detection method of the parking area 200Q based on surrounding information.

[0189] For example, the parking area detection unit 314 identifies a rectangular area that can accommodate the vehicle 200 for parking based on the distribution of obstacles represented by map data, and detects the area as parking area 200Q.

[0190] Alternatively, for example, the parking area detection unit 314 identifies the parking space lines by image recognition of the image captured by the camera 210B, thereby detecting the parking area 200Q. In this case, the parking area detection unit 314 converts the position of the parking area 200Q in the captured image to its position in the local spatial coordinate system of the map data by projection transformation from the two-dimensional coordinate system of the captured image to the local spatial coordinate system of the map data. This projection transformation can be performed using appropriate techniques known or familiar to the public. The position of the parking area 200Q is determined by the projection transformation to the local coordinate system.

[0191] The parking frame setting unit 315 sets a rectangular parking frame 200D in the parking area 200Q based on the parking area detection unit 314. The parking frame 200D defines the area that can accommodate the vehicle 200 when parked. In addition, when the parking area 200Q is a parking space divided by parking lines, the parking frame setting unit 315 sets the parking lines as the parking frame 200D.

[0192] The parking path calculation unit 316 calculates and determines the parking path based on map data.

[0193] The parking path in this embodiment is a path by which the vehicle 200 moves from its current position to the parking frame 200D in the parking area 200Q in a reverse parking manner so that the vehicle 200 will not collide with surrounding obstacles.

[0194] Reversing into a parking space refers to reversing the vehicle 200 into the parking area 200Q.

[0195] The relative position determination unit 317 determines the relative position relationship between the current position of the vehicle 200 and the parking frame 200D when the automatic parking starts.

[0196] More specifically, the relative position determination unit 317 determines whether the vehicle 200 (more precisely, the detection range 200R of the sonar 210A) exceeds the predetermined set position 200T.

[0197] In addition, such as Figure 13As shown, the set position 200T is a position set far away from the parking frame 200D when viewed from a position closer to the front of the vehicle 200 along the travel path of the vehicle 200. Furthermore, the position closer to the object is the position of the vehicle 200 traveling towards the object, that is, the position of the vehicle 200 before reaching the object.

[0198] Therefore, the set position 200T can be considered the position reached after the detection range 200R of the sonar 210A has passed the parking frame 200D and advanced to some extent. When the vehicle 200 is closer to the set position 200T, the area on the far side of the parking frame 200D, viewed from a position closer to the parking frame 200D, indicates that no obstacle detection based on the sonar 210A has been performed. Furthermore, the aforementioned far side area adjacent to the parking frame 200D will be referred to below as the "far adjacent area 200K".

[0199] In this embodiment, such as Figure 13 As shown, the set position 200T is set to a position where, without vehicle adjustment, the vehicle can be reversed from the set position 200T into the parking frame 200D. The set position 200T is set based on a position 200P that is more than or equal to the minimum turning radius 200L of the vehicle 200 in the direction of travel from the center 200O of the parking frame 200D towards the vehicle 200.

[0200] In addition, "vehicle adjustment" refers to the repeated forward and reverse driving of vehicle 200 in order to change the entry angle of vehicle 200 toward parking frame 200D, and is sometimes also called vehicle switching.

[0201] The adjacent area 200K is also the area that vehicle 200 can pass through when moving from the set position 200T to the parking area 200Q for reversing into a parking space. Figure 13 As shown, the area is defined as a roughly rectangular region with the aforementioned position 200P as the terminal 200KE.

[0202] When automatic parking starts, the forward path setting unit 318 sets a forward path 350 for the vehicle 200 to move to the set position 200T when the vehicle 200 is close to the set position 200T.

[0203] The automatic driving control unit 319 generates control information for enabling the vehicle 200 to move forward automatically, and outputs the control information to the vehicle control device 230. The automatic driving control unit 319 generates the aforementioned control information for the parking path calculated by the parking path calculation unit 316 and the forward path 350 set by the forward path setting unit 318, respectively.

[0204] Next, the operation of this embodiment will be explained.

[0205] While the occupant-driven vehicle 200 is moving within the parking lot, the obstacle detection unit 312 in the parking support device 300 continuously detects surrounding obstacles (such as other vehicles 203) based on surrounding information. Figure 14 In addition, the map generation unit 313 records the positions of obstacles detected by the obstacle detection unit 312 into the map data one by one. Furthermore, the parking space detection unit 314 continuously detects the parking area 200Q existing on the side of the vehicle 200 based on the distribution of obstacles shown in the map data or the image recognition results of the captured images.

[0206] like Figure 14 As shown, when the occupant finds the parking area 200Q in front of the vehicle 200, the occupant stops the vehicle 200 and operates the HMI (Human Machine Interface) (not shown), thereby instructing the parking support device 300 to automatically park.

[0207] When an automatic parking instruction is input, the parking support device 300 initiates automatic parking processing to guide the vehicle 200 into the parking area 200Q via automatic driving. Furthermore, the parking area 200Q is defined as the area detected by the parking area detection unit 314.

[0208] Figure 15 This is a flowchart of the automatic parking process.

[0209] First, the parking frame setting unit 315 sets the parking frame 200D relative to the parking area 200Q (step Sb1).

[0210] Next, the relative position determination unit 317 determines whether the vehicle 200 has exceeded the set position 200T (step Sb2).

[0211] If vehicle 200 exceeds the set position 200T (step Sb2: Yes), it indicates that the detection range 200R of sonar 210A has passed the distant adjacent area 200K. Therefore, in this case, obstacle detection has been performed relative to the distant adjacent area 200K, and the detection result has been recorded in the map data.

[0212] In this case, the parking path calculation unit 316 calculates and calculates the parking path for the vehicle 200 to move from its current position to the parking area 200Q based on the map data mentioned above (step Sb3).

[0213] Furthermore, in order to enable the vehicle 200 to automatically drive along the parking path towards the parking area 200Q, the automatic driving control unit 319 generates control information based on the parking path and outputs the control information to the vehicle control device 230 (step Sb4). Thus, under the control of the vehicle control device 230, the vehicle 200 automatically drives from its current position (parking position) and enters the parking area 200Q.

[0214] On the other hand, if the vehicle 200 is close to the set position 200T but has not exceeded the set position 200T (step Sb2: No), firstly, the parking path calculation unit 316 determines whether obstacle detection has not yet been performed relative to the distant adjacent area 200K (step Sb5). For example, if the vehicle 200 is moving in circles in the parking lot, obstacle detection has already been performed relative to the distant adjacent area 200K, and the detection result has been recorded in the map data.

[0215] If obstacle detection for the distant adjacent area 200K has been performed (step Sb5: no), the parking path calculation unit 316 proceeds to the above-mentioned step Sb3, calculates the parking path based on the map data, and the automatic driving control unit 319 generates control information based on the parking path for automatic driving to the parking area 200Q (step Sb4).

[0216] If obstacle detection for the distant adjacent area 200K is not performed (step Sb5: Yes), the parking support device 300 performs the following process in order to detect whether there are obstacles in the distant adjacent area 200K.

[0217] First, the forward path setting unit 318 sets a forward path 350 for the vehicle 200 to move to the set position 200T (step Sb6).

[0218] Next, the automatic driving control unit 319 generates control information based on the forward path 350 and outputs the control information to the vehicle control device 230 (step Sb7). As a result, the vehicle 200 begins to drive automatically from its current position (parking position) to the set position 200T.

[0219] During this autonomous driving period, the obstacle detection unit 312 continuously detects obstacles based on surrounding information. In addition, the map generation unit 313 records the positions of the obstacles detected by the obstacle detection unit 312 into the map data one by one. Thus, the distribution of obstacles is recorded in the map data for the distant adjacent area 200K (step Sb8).

[0220] Furthermore, the parking support device 300 advances the processing procedure to step Sb3, in which the parking path calculation unit 316 calculates the parking path based on map data, and the automatic driving control unit 319 generates control information based on the parking path (step Sb4).

[0221] Therefore, as Figure 16 As shown, when there is an obstacle within a distant adjacent region of 200K ( Figure 16 In the case of other vehicles (203) in the example, in step Sb3, vehicle 200 is prevented from moving from the distant adjacent area 200K to the parking frame 200D as needed, such as... Figure 16 As shown, the parking path calculation unit 316 calculates the parking path including one or more vehicle adjustments.

[0222] On the other hand, if there are no obstacles in the distant adjacent area 200K, there is no problem even if the parking path crosses the distant adjacent area 200K. Therefore, in step Sb3, the parking path calculation unit 316 calculates the parking path that allows the vehicle 200 to enter the parking frame 200D from the set position 200T by reversing without vehicle adjustment.

[0223] According to this embodiment, the following effects are achieved.

[0224] According to the parking support device 300 of this embodiment, if the vehicle 200 has not exceeded a set position 200T that is set far away from the parking frame 200D when viewed from a position closer to the front than the parking frame 200D, the parking support device 300 moves the vehicle 200 towards the set position 200T. Furthermore, the parking support device 300 calculates a parking path for the vehicle 200 to move from the set position 200T towards the parking frame 200D based on map data reflecting surrounding information obtained during this movement.

[0225] Therefore, the appropriate parking path can be determined based on the presence or absence of obstacles in the area on the far side of the parking frame 200D, i.e., the distant adjacent area 200K, as viewed from the front of the parking frame 200D.

[0226] In the parking support device 300 of this embodiment, the setting position 200T is set to a position that allows the vehicle 200 to move toward the parking frame 200D without vehicle adjustment, where the vehicle adjustment is repeated driving forward and backward.

[0227] Therefore, if there are no obstacles within a 200K radius of the distant adjacent area, a parking path that passes through the 200K radius of the distant adjacent area without any vehicle adjustments can be adopted.

[0228] In the parking support device 300 of this embodiment, the setting position 200T is set based on a position that is at least 200L away from the minimum turning radius 200L of the vehicle 200 in the direction of travel from the center 200O of the parking frame 200D toward the vehicle 200.

[0229] Therefore, when there are no obstacles within the adjacent area 200K in the distance, a simple parking path can be adopted that only requires the vehicle 200 to reverse and turn from the set position 200T with a minimum turning radius 200L.

[0230] Furthermore, the second embodiment described above is merely an example of one aspect of the present invention, and can be arbitrarily modified and applied without departing from the spirit of the present invention.

[0231] For example, Figure 11 The functional block diagram shown is a schematic representation of the components of the vehicle 200 and parking support device 300 categorized according to their main processing functions for ease of understanding of the invention. The components can be further categorized based on their processing functions. Alternatively, they can be categorized in a way that allows a single component to perform more processing functions.

[0232] Furthermore, the processing of each component of the parking support device 300 can be performed by one piece of hardware or by multiple pieces of hardware. Additionally, the processing of each component can be implemented by one program or by multiple programs.

Claims

1. A parking support device, characterized in that, have: Location detection unit to detect the current position of the vehicle; Sensors are installed on the vehicle and detect the area around the vehicle; Parking area detection unit that detects parking areas where the vehicle can park based on information from the sensors; A parking path calculation unit calculates a path for the vehicle to move from its current position to the parking area based on the parking area detected by the parking area detection unit and the current position of the vehicle. An obstacle detection unit detects obstacles to the side of the vehicle based on information from sonar, which is the sensor. An imaginary obstacle setting unit is set at a position adjacent to the parking space that serves as the parking area; and When the vehicle passes through the parking space, the imaginary obstacle moving part moves parallel to the direction of the vehicle's passage by an amount of movement corresponding to the distance between the parking space and the vehicle. The parking path calculation unit calculates a parking path for the vehicle to move from its current position and park in the parking space based on the vehicle's current position, the obstacle detected by the sonar, the imaginary obstacle, and the respective positions of the parking space.

2. The parking support device according to claim 1, characterized in that, The size of the hypothetical obstacle is determined based on other vehicles that may be parked next to the parking space. It is set up alongside the parking spaces.

3. The parking support device according to claim 1 or 2, characterized in that, The obstacle detection unit uses information detected within a specified range from the sonar.

4. A parking support device, characterized in that, have: Location detection unit to detect the current position of the vehicle; Sensors are installed on the vehicle and detect the area around the vehicle; Parking area detection unit that detects parking areas where the vehicle can park based on information from the sensors; A parking path calculation unit calculates a path for the vehicle to move from its current position to the parking area based on the parking area detected by the parking area detection unit and the current position of the vehicle. A surrounding information acquisition unit that acquires surrounding information based on the output of the sensor; A parking frame setting part is provided in the parking area for parking the vehicle; A relative position determination unit determines whether the vehicle has exceeded a set position based on the vehicle's current position. The set position is a position that is farther away from the parking frame when viewed from a position closer to the front compared to the parking frame, and is set to be able to detect the position of an obstacle in a distant adjacent area adjacent to the far side of the parking frame during the period when the vehicle moves from the current position to the set position. A forward path setting unit that sets a forward path for the vehicle to move to the set position when the vehicle has not exceeded the set position; and An automatic driving control unit that moves the vehicle to the set position based on the stated forward path. When the vehicle moves to the set position, the parking path calculation unit calculates a parking path for the vehicle to move from the set position to the parking frame based on the surrounding information.

5. The parking support device according to claim 4, characterized in that, The set position is a position that allows the vehicle to move toward the parking frame without vehicle adjustment, which is repeated driving forward and backward.

6. The parking support device according to claim 5, characterized in that, The set position is determined based on a position above the minimum turning radius of the vehicle, located from the center of the parking frame in the direction of travel of the vehicle.

7. A control method for a parking support device, the parking support device having a position detection unit for detecting the current position of a vehicle, the control method for the parking support device being characterized in that, Based on information from sensors installed on the vehicle, parking areas where the vehicle can park are detected. Based on the position between the detected parking area and the vehicle's current position, a path for the vehicle to move from its current position to the parking area is calculated. The parking support device includes an obstacle detection unit that detects obstacles to the side of the vehicle based on information from sonar, which is a sensor. The control method of the parking support device includes: The first step is to set up an imaginary obstacle at a location adjacent to the parking space that serves as the parking area; The second step involves moving the imaginary obstacle parallel to the direction of the vehicle's passage by an amount corresponding to the distance between the parking space and the vehicle, when the vehicle passes through the parking space; and The third step involves calculating a parking path for the vehicle to move from its current position and park in the parking space, based on the vehicle's current position, the location of the obstacle detected by the sonar, the location of the hypothetical obstacle, and the location of the parking space.

8. A control method for a parking support device, the parking support device having a position detection unit for detecting the current position of a vehicle, the control method for the parking support device being characterized in that... Based on information from sensors installed on the vehicle, parking areas where the vehicle can park are detected. Based on the position between the detected parking area and the vehicle's current position, a path for the vehicle to move from its current position to the parking area is calculated. The parking support device includes a surrounding information acquisition unit that acquires surrounding information based on the output of the sensor. The control method of the parking support device includes: The first step is to set a parking frame for parking the vehicle within the parking area; The second step is to determine whether the vehicle has exceeded a set position based on the vehicle's current position. The set position is a position that is farther away from the parking frame when viewed from a position closer to the front compared to the parking frame, and is set to be able to detect the position of an obstacle in a distant adjacent area adjacent to the far side of the parking frame during the period when the vehicle moves from the current position to the set position. The third step involves setting a forward path for the vehicle to move to the set position if the vehicle has not exceeded the set position. Step 4: Moving the vehicle to the set position based on the forward path; and Step 5: Calculating a parking path for the vehicle to move from the set position to the parking frame based on the surrounding information, assuming the vehicle has moved to the set position.

Images